updated Changelog

Merge pull request #804 from qitechgmbh/803-add-winder-gearbox-conversion
803 add winder gearbox conversion
2025-10-16 15:15:36 +02:00 · 2025-10-16 12:39:14 +02:00 · 2025-10-16 12:22:54 +02:00 · 2025-10-16 12:22:54 +02:00 · 2025-10-16 12:22:54 +02:00 · 2025-10-16 12:22:54 +02:00
449 changed files with 85458 additions and 9782 deletions
@@ -0,0 +1,3 @@
+.png filter=lfs diff=lfs merge=lfs -text
+.jpg filter=lfs diff=lfs merge=lfs -text
+.jpeg filter=lfs diff=lfs merge=lfs -text
@@ -0,0 +1,29 @@
+This is a machine control software project.
+
+## Repository structure
+
+### Frontend
+
+`/electron`: Frontend code for the control software built with React and Electron.
+
+### Backend
+
+`/server`: Implements machine setup & loop. Exposes a REST & Socket.io API for the electron frontend.
+`/ethercat-hal`: Hardware abstraction layer for Beckhoff (and possibly other EtherCat) devices and protocols.
+`/ethercat-hal-derive`: Macros for ethercat-hal
+`/control-core`: Generic logic for the server.
+
+### HMI Panel Operating System
+
+`/nixos`: Custom Linux with realtime kernel & preconfigured for touchscreens.
+
+### Other
+
+/docs: Documentation for the project.
+
+## Key Guidelines
+
+1. Follow Rust & Typescript best practices and idiomatic patterns
+2. Maintain existing code structure and organization
+3. Write unit tests for new functionality where applicable.
+4. Document public APIs and complex logic in code. Suggest changes to the `docs/` folder when appropriate
@@ -1,16 +1,19 @@
-# To get started with Dependabot version updates, you'll need to specify which
-# package ecosystems to update and where the package manifests are located.
-# Please see the documentation for all configuration options:
-# https://docs.github.com/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file
-
 version: 2
 updates:
-  - package-ecosystem: "npm" # See documentation for possible values
-    directory: "/electron" # Location of package manifests
+  - package-ecosystem: "npm"
+    directory: "/electron"
    schedule:
-      interval: "weekly"
+      interval: "monthly"
+    ignore:
+    - dependency-name: "*"
+      update-types:
+        - "version-update:semver-minor"

-  - package-ecosystem: "cargo" # See documentation for possible values
-    directory: "/" # Location of package manifests
+  - package-ecosystem: "cargo"
+    directory: "/"
    schedule:
-      interval: "weekly"
+      interval: "monthly"
+    ignore:
+      - dependency-name: "*"
+        update-types:
+          - "version-update:semver-minor"
@@ -36,6 +36,9 @@ jobs:
      - name: Install
        run: npm i

+      - name: Build
+        run: tsc
+
      - name: Format
        run: npm run format

@@ -45,5 +48,5 @@ jobs:
      - name: Test
        run: npm run test

-      - name: Build
+      - name: Package
        run: npm run package
@@ -21,6 +21,8 @@ jobs:
      - uses: actions/checkout@v4
      - name: Set Rust version
        run: rustup override set ${{ env.RUST_VERSION }}
+      - name: Install Formatter
+        run: rustup component add rustfmt
      - name: Cache Rust dependencies
        uses: actions/cache@v3
        with:
@@ -35,7 +37,12 @@ jobs:
            ${{ runner.os }}-${{ env.RUST_VERSION }}-cargo-

      - name: Build
+        env:
+          RUSTFLAGS: "-D warnings"
        run: cargo build --verbose

+      - name: Format
+        run: cargo fmt --check --verbose
+
      - name: Run tests
        run: cargo test --verbose
@@ -0,0 +1,49 @@
+# Canonical identities on the left, aliases on the right.
+# Format options:
+#   Canon Name <canon@example.com> <alias@example.com>
+#   Canon Name <canon@example.com> Alias Name <alias@example.com>
+
+# Icedsoda -> Philipp
+Philipp <29167146+1cedsoda@users.noreply.github.com> <29167146+1cedsoda@users.noreply.github.com>
+
+# kraemr / Robin Krämer -> Robin
+Robin <93094049+kraemr@users.noreply.github.com> <93094049+kraemr@users.noreply.github.com>
+Robin <93094049+kraemr@users.noreply.github.com> Robin Krämer <93094049+kraemr@users.noreply.github.com>
+
+# Oshgnacknak -> Josh
+Josh <osh@oshgnacknak.de> <osh@oshgnacknak.de>
+
+# Milan
+Milan <61654753+MilanVDB@users.noreply.github.com>
+
+# dependabot stays as bot
+Dependabot <49699333+dependabot[bot]@users.noreply.github.com> <49699333+dependabot[bot]@users.noreply.github.com>
+
+# Medformatik / Florian -> Florian
+Florian <dev@fwcr.de> <dev@fwcr.de>
+Florian <dev@fwcr.de> Medformatik <dev@fwcr.de>
+
+# Anatomik5 -> Alisher (merge noreply + gmail under Alisher)
+Alisher <115714693+Anatomik5@users.noreply.github.com> <115714693+Anatomik5@users.noreply.github.com>
+Alisher <115714693+Anatomik5@users.noreply.github.com> Anatomik5 <darmenovalisher@gmail.com>
+Alisher <115714693+Anatomik5@users.noreply.github.com> Darmenov Alisher <115714693+Anatomik5@users.noreply.github.com>
+
+# snacj -> Melvin
+Melvin <0xsnacj@proton.me> <0xsnacj@proton.me>
+Melvin <0xsnacj@proton.me> snacj <bbmelvin@gmx.de>
+Melvin <0xsnacj@proton.me> Melvin Spieß <0xsnacj@proton.me>
+
+# Janhegerq -> Jan
+Jan <219994445+Janhegerq@users.noreply.github.com> <219994445+Janhegerq@users.noreply.github.com>
+Jan <219994445+Janhegerq@users.noreply.github.com> <19994445+Janhegerq@users.noreply.github.com>
+
+# Christian / TheBest6337 -> christian
+Christian <christian.zschoegner@outlook.de> <christian.zschoegner@outlook.de>
+Christian <christian.zschoegner@outlook.de> TheBest6337 <christian.zschoegner@outlook.de>
+Christian <christian.zschoegner@outlook.de> Christian <80114847+TheBest6337@users.noreply.github.com>
+
+# nixos-install.sh
+nixos-install.sh <nixos-install.sh@localhost> <nixos-install.sh@localhost>
+
+# copilot-swe-agent bot
+Copilot <198982749+Copilot@users.noreply.github.com> <198982749+Copilot@users.noreply.github.com>
@@ -1,5 +1,6 @@
 {
    "typescript.inlayHints.enumMemberValues.enabled": false,
-     "git.detectSubmodules": true,
-     "git.detectSubmodulesLimit": 10,
+    "git.detectSubmodules": true,
+    "git.detectSubmodulesLimit": 10,
+    "rust-analyzer.check.command": "clippy",
 }
@@ -1,12 +1,171 @@
-# `Unreleased`
+# `2.10.0`
+_16.10.2025_
+
+## Winder V2
+- [#776](https://github.com/qitechgmbh/control/pull/776) Added explanation for padding in winder manual
+- [#804](https://github.com/qitechgmbh/control/pull/804) Added gearbox conversion
+
+## General 
+- [#717](https://github.com/qitechgmbh/control/pull/717) Show from option for graphs added
+- [#805](https://github.com/qitechgmbh/control/pull/805) Graphs run better now
+
+
+
+# `2.9.1`
+_10.10.2025_
+
+## Winder V2
+- [#796](https://github.com/qitechgmbh/control/pull/796) Winding in adaptive mode, while puller is in reverse mode is now possible
+
+## General
+- [#780](https://github.com/qitechgmbh/control/pull/780) Updates are faster now
+- [#746](https://github.com/qitechgmbh/control/pull/746) Improved scrollbar styling for manuals
+
+# `2.9.0`
+_06.10.2025_
+
+## Winder V2
+- [#778](https://github.com/qitechgmbh/control/pull/778) Increased Winder Traverse Step size limit
+
+## General
+- [#725](https://github.com/qitechgmbh/control/pull/725) Improved troubleshooting and update page
+- [#625](https://github.com/qitechgmbh/control/pull/625) Improved stability of Machine-Connections
+
+
+# `2.8.0`
+_30.09.2025_
+
+
+## Laser V1
+- [#741](https://github.com/qitechgmbh/control/pull/741) Added roundness measurement to two-axis Laser
+
+
+## Winder V2
+- [#745](https://github.com/qitechgmbh/control/pull/745), [#756](https://github.com/qitechgmbh/control/pull/756) improved Winder Frontend
+
+## General
+- [#447](https://github.com/qitechgmbh/control/pull/447) added AquaPath Machine
+
+
+
+
+# `2.7.0`
+
+_17.09.2025_

 ## Extruder V2

- [#455](https://github.com/qitechgmbh/control/pull/458) Greatly improved stability and precision of pressure-based regulation for the motor
+- [#695](https://github.com/qitechgmbh/control/pull/695) Pressure and Rpm Regulation properly switch again
+
+## Winder V2
+
+- [#727](https://github.com/qitechgmbh/control/pull/727) Removed estimated diameter
+
+## Laser V1
+
+- [#731](https://github.com/qitechgmbh/control/pull/731) Added Laser with two-axis measurements
+
+## General
+
+- [#679](https://github.com/qitechgmbh/control/pull/679),[#677](https://github.com/qitechgmbh/control/pull/677),[#698](https://github.com/qitechgmbh/control/pull/698), [#684](https://github.com/qitechgmbh/control/pull/684),[#706](https://github.com/qitechgmbh/control/pull/706) Greatly improved overall system latency and stability
+
+- [#720](https://github.com/qitechgmbh/control/pull/720), [#686](https://github.com/qitechgmbh/control/pull/686) Improved User Interface
+
+# `2.6.0`
+
+_03.09.2025_
+
+## Extruder V2
+
+- [#658](https://github.com/qitechgmbh/control/pull/658) Added manual
+- [#639](https://github.com/qitechgmbh/control/pull/639) Swapped order of screw speed regulation buttons
+
+## Laser V1
+
+- [#642](https://github.com/qitechgmbh/control/pull/642) Improved stability of laser connection
+
+## General
+
+- [#657](https://github.com/qitechgmbh/control/pull/657) Time frame for graphs is now remembered
+- [#641](https://github.com/qitechgmbh/control/pull/641) Removed duplicate scrollbar from manuals
+
+# `2.5.0`
+
+_27.08.2025_
+
+## Extruder V2
+
+- [#595](https://github.com/qitechgmbh/control/pull/600) Simplified power graphs
+- [#593](https://github.com/qitechgmbh/control/pull/599) Added identifiers for temperature sensors in temperature graph
+
+## Winder V2
+
+- [#598](https://github.com/qitechgmbh/control/pull/601) Images now load properly in the manual
+
+## General
+
+- [#540](https://github.com/qitechgmbh/control/pull/592) Improved readability of the presets
+- [#591](https://github.com/qitechgmbh/control/pull/626) Significantly improved user interface performance and stability
+
+# `2.4.0`
+
+_14.08.2025_
+
+## Winder V2
+
+- [#550](https://github.com/qitechgmbh/control/pull/551) Can now reset wound distance while winding
+
+## General
+
+- [#568](https://github.com/qitechgmbh/control/pull/569),[#572](https://github.com/qitechgmbh/control/pull/572), [#574](https://github.com/qitechgmbh/control/pull/587) Improved EtherCAT performance
+- [#588](https://github.com/qitechgmbh/control/pull/589) Improved frontend performance
+
+# `2.3.0`
+
+_06.08.2025_
+
+## Extruder V2
+
+- [#520](https://github.com/qitechgmbh/control/pull/523) added warning message incase inverter is overloaded
+- [#501](https://github.com/qitechgmbh/control/pull/508) raised pressure limit of pressured PID mode for extruder
+- [#519](https://github.com/qitechgmbh/control/pull/549) added total power consumption monitor and graphs for voltage,current and wattage of the motor
+
+## Winder V2
+
+- [#64](https://github.com/qitechgmbh/control/pull/504) added winder handbook
+
+## Laser V1
+
+- [#497](https://github.com/qitechgmbh/control/pull/498) improved diameter visualisation
+
+## General
+
+- [#62](https://github.com/qitechgmbh/control/pull/514),[#524](https://github.com/qitechgmbh/control/pull/528) added machine presets to load configurations
+- [#526](https://github.com/qitechgmbh/control/pull/541) added import and export of presets
+
+# `2.2.0`
+
+_15.07.2025_
+
+## Extruder V2
+
+- [#455](https://github.com/qitechgmbh/control/pull/458), Greatly improved stability and precision of pressure-based regulation for the motor
+- [#467](https://github.com/qitechgmbh/control/pull/468), [#448](https://github.com/qitechgmbh/control/pull/449), [#485](https://github.com/qitechgmbh/control/pull/486) Improved the Responsiveness for motor control and monitoring
+- [#138](https://github.com/qitechgmbh/control/pull/495), Added a Warning in case the Pressure sensor is disconnected or incorrectly wired
+- [#169](https://github.com/qitechgmbh/control/pull/492), Added a Confirmation Dialog when extruder has not reached 90% of target temperature
+
+## Winder V2
+
+- [#471](https://github.com/qitechgmbh/control/pull/480), Added a live value to track the pulled distance and the option of switching to a different Mode after a given distance.
+
+## General
+
+- [#121](https://github.com/qitechgmbh/control/pull/121), Use Linux realtime threads for EtherCAT and control loop (PREEMPT_RT)
+- [#138](https://github.com/qitechgmbh/control/pull/495), Updated Quick Start Guide

 # `2.1.0`

-_30.07.2025_
+_30.06.2025_

 ## Extruder V2

@@ -99,9 +99,9 @@ dependencies = [

 [[package]]
 name = "anyhow"
-version = "1.0.98"
+version = "1.0.100"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e16d2d3311acee920a9eb8d33b8cbc1787ce4a264e85f964c2404b969bdcd487"
+checksum = "a23eb6b1614318a8071c9b2521f36b424b2c83db5eb3a0fead4a6c0809af6e61"

 [[package]]
 name = "approx"
@@ -256,7 +256,7 @@ checksum = "e539d3fca749fcee5236ab05e93a52867dd549cc157c8cb7f99595f3cedffdb5"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -273,7 +273,7 @@ checksum = "99e1aca718ea7b89985790c94aad72d77533063fe00bc497bb79a7c2dae6a661"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -284,9 +284,9 @@ checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"

 [[package]]
 name = "axum"
-version = "0.8.4"
+version = "0.8.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "021e862c184ae977658b36c4500f7feac3221ca5da43e3f25bd04ab6c79a29b5"
+checksum = "8a18ed336352031311f4e0b4dd2ff392d4fbb370777c9d18d7fc9d7359f73871"
 dependencies = [
 "axum-core",
 "axum-macros",
@@ -304,8 +304,7 @@ dependencies = [
 "mime",
 "percent-encoding",
 "pin-project-lite",
- "rustversion",
- "serde",
+ "serde_core",
 "serde_json",
 "serde_path_to_error",
 "serde_urlencoded",
@@ -319,9 +318,9 @@ dependencies = [

 [[package]]
 name = "axum-core"
-version = "0.5.2"
+version = "0.5.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "68464cd0412f486726fb3373129ef5d2993f90c34bc2bc1c1e9943b2f4fc7ca6"
+checksum = "59446ce19cd142f8833f856eb31f3eb097812d1479ab224f54d72428ca21ea22"
 dependencies = [
 "bytes",
 "futures-core",
@@ -330,7 +329,6 @@ dependencies = [
 "http-body-util",
 "mime",
 "pin-project-lite",
- "rustversion",
 "sync_wrapper",
 "tower-layer",
 "tower-service",
@@ -345,7 +343,7 @@ checksum = "604fde5e028fea851ce1d8570bbdc034bec850d157f7569d10f347d06808c05c"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -539,7 +537,7 @@ dependencies = [
 "heck 0.5.0",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -581,11 +579,14 @@ dependencies = [
 "approx",
 "axum",
 "bitvec",
+ "control_core_derive",
+ "core_affinity",
 "crc",
 "erased-serde",
 "ethercat_hal",
 "ethercrab",
 "interfaces",
+ "libc",
 "serde",
 "serde_json",
 "serial",
@@ -593,10 +594,20 @@ dependencies = [
 "smol",
 "socketioxide",
 "textplots",
+ "tokio",
 "tracing",
 "uom",
 ]

+[[package]]
+name = "control_core_derive"
+version = "0.1.0"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.105",
+]
+
 [[package]]
 name = "core-foundation"
 version = "0.10.0"
@@ -613,6 +624,17 @@ version = "0.8.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b"

+[[package]]
+name = "core_affinity"
+version = "0.8.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a034b3a7b624016c6e13f5df875747cc25f884156aad2abd12b6c46797971342"
+dependencies = [
+ "libc",
+ "num_cpus",
+ "winapi",
+]
+
 [[package]]
 name = "cpufeatures"
 version = "0.2.17"
@@ -715,7 +737,7 @@ dependencies = [
 "deluxe-macros",
 "once_cell",
 "proc-macro2",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -728,7 +750,7 @@ dependencies = [
 "proc-macro2",
 "quote",
 "strsim 0.10.0",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -743,7 +765,7 @@ dependencies = [
 "proc-macro-crate",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -754,7 +776,7 @@ checksum = "30542c1ad912e0e3d22a1935c290e12e8a29d704a420177a31faad4a601a0800"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -791,7 +813,7 @@ checksum = "97369cbbc041bc366949bc74d34658d6cda5621039731c6310521892a3a20ae0"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -931,11 +953,12 @@ checksum = "877a4ace8713b0bcf2a4e7eec82529c029f1d0619886d18145fea96c3ffe5c0f"

 [[package]]
 name = "erased-serde"
-version = "0.4.6"
+version = "0.4.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e004d887f51fcb9fef17317a2f3525c887d8aa3f4f50fed920816a688284a5b7"
+checksum = "259d404d09818dec19332e31d94558aeb442fea04c817006456c24b5460bbd4b"
 dependencies = [
 "serde",
+ "serde_core",
 "typeid",
 ]

@@ -993,8 +1016,10 @@ dependencies = [
 "bitvec",
 "ethercat_hal_derive",
 "ethercrab",
+ "futures",
 "rand",
 "smol",
+ "tracing",
 "uom",
 ]

@@ -1005,7 +1030,7 @@ dependencies = [
 "deluxe",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -1057,7 +1082,7 @@ dependencies = [
 "criterion",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -1186,7 +1211,7 @@ checksum = "162ee34ebcb7c64a8abebc059ce0fee27c2262618d7b60ed8faf72fef13c3650"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -1653,15 +1678,6 @@ dependencies = [
 "serde",
 ]

-[[package]]
-name = "is-docker"
-version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "928bae27f42bc99b60d9ac7334e3a21d10ad8f1835a4e12ec3ec0464765ed1b3"
-dependencies = [
- "once_cell",
-]
-
 [[package]]
 name = "is-terminal"
 version = "0.4.16"
@@ -1673,16 +1689,6 @@ dependencies = [
 "windows-sys 0.59.0",
 ]

-[[package]]
-name = "is-wsl"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "173609498df190136aa7dea1a91db051746d339e18476eed5ca40521f02d7aa5"
-dependencies = [
- "is-docker",
- "once_cell",
-]
-
 [[package]]
 name = "is_terminal_polyfill"
 version = "1.70.1"
@@ -1722,9 +1728,9 @@ checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"

 [[package]]
 name = "libc"
-version = "0.2.172"
+version = "0.2.176"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d750af042f7ef4f724306de029d18836c26c1765a54a6a3f094cbd23a7267ffa"
+checksum = "58f929b4d672ea937a23a1ab494143d968337a5f47e56d0815df1e0890ddf174"

 [[package]]
 name = "libloading"
@@ -1801,11 +1807,11 @@ dependencies = [

 [[package]]
 name = "matchers"
-version = "0.1.0"
+version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8263075bb86c5a1b1427b5ae862e8889656f126e9f77c484496e8b47cf5c5558"
+checksum = "d1525a2a28c7f4fa0fc98bb91ae755d1e2d1505079e05539e35bc876b5d65ae9"
 dependencies = [
- "regex-automata 0.1.10",
+ "regex-automata",
 ]

 [[package]]
@@ -1929,12 +1935,11 @@ checksum = "43794a0ace135be66a25d3ae77d41b91615fb68ae937f904090203e81f755b65"

 [[package]]
 name = "nu-ansi-term"
-version = "0.46.0"
+version = "0.50.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "77a8165726e8236064dbb45459242600304b42a5ea24ee2948e18e023bf7ba84"
+checksum = "d4a28e057d01f97e61255210fcff094d74ed0466038633e95017f5beb68e4399"
 dependencies = [
- "overload",
- "winapi",
+ "windows-sys 0.52.0",
 ]

 [[package]]
@@ -1946,6 +1951,16 @@ dependencies = [
 "autocfg",
 ]

+[[package]]
+name = "num_cpus"
+version = "1.17.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "91df4bbde75afed763b708b7eee1e8e7651e02d97f6d5dd763e89367e957b23b"
+dependencies = [
+ "hermit-abi 0.5.0",
+ "libc",
+]
+
 [[package]]
 name = "object"
 version = "0.36.7"
@@ -1967,17 +1982,6 @@ version = "11.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d6790f58c7ff633d8771f42965289203411a5e5c68388703c06e14f24770b41e"

-[[package]]
-name = "open"
-version = "5.3.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2483562e62ea94312f3576a7aca397306df7990b8d89033e18766744377ef95"
-dependencies = [
- "is-wsl",
- "libc",
- "pathdiff",
-]
-
 [[package]]
 name = "opentelemetry"
 version = "0.30.0"
@@ -2052,12 +2056,6 @@ dependencies = [
 "thiserror",
 ]

-[[package]]
-name = "overload"
-version = "0.1.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b15813163c1d831bf4a13c3610c05c0d03b39feb07f7e09fa234dac9b15aaf39"
-
 [[package]]
 name = "parking"
 version = "2.2.1"
@@ -2093,12 +2091,6 @@ version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"

-[[package]]
-name = "pathdiff"
-version = "0.2.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "df94ce210e5bc13cb6651479fa48d14f601d9858cfe0467f43ae157023b938d3"
-
 [[package]]
 name = "pcap"
 version = "2.2.0"
@@ -2151,7 +2143,7 @@ dependencies = [
 "pest_meta",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -2182,7 +2174,7 @@ checksum = "6e918e4ff8c4549eb882f14b3a4bc8c8bc93de829416eacf579f1207a8fbf861"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -2318,7 +2310,7 @@ dependencies = [
 "itertools",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -2350,9 +2342,9 @@ checksum = "dc33ff2d4973d518d823d61aa239014831e521c75da58e3df4840d3f47749d09"

 [[package]]
 name = "rand"
-version = "0.9.1"
+version = "0.9.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9fbfd9d094a40bf3ae768db9361049ace4c0e04a4fd6b359518bd7b73a73dd97"
+checksum = "6db2770f06117d490610c7488547d543617b21bfa07796d7a12f6f1bd53850d1"
 dependencies = [
 "rand_chacha",
 "rand_core",
@@ -2388,42 +2380,27 @@ dependencies = [

 [[package]]
 name = "regex"
-version = "1.11.1"
+version = "1.11.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b544ef1b4eac5dc2db33ea63606ae9ffcfac26c1416a2806ae0bf5f56b201191"
+checksum = "8b5288124840bee7b386bc413c487869b360b2b4ec421ea56425128692f2a82c"
 dependencies = [
 "aho-corasick",
 "memchr",
- "regex-automata 0.4.9",
- "regex-syntax 0.8.5",
+ "regex-automata",
+ "regex-syntax",
 ]

 [[package]]
 name = "regex-automata"
-version = "0.1.10"
+version = "0.4.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6c230d73fb8d8c1b9c0b3135c5142a8acee3a0558fb8db5cf1cb65f8d7862132"
-dependencies = [
- "regex-syntax 0.6.29",
-]
-
-[[package]]
-name = "regex-automata"
-version = "0.4.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "809e8dc61f6de73b46c85f4c96486310fe304c434cfa43669d7b40f711150908"
+checksum = "833eb9ce86d40ef33cb1306d8accf7bc8ec2bfea4355cbdebb3df68b40925cad"
 dependencies = [
 "aho-corasick",
 "memchr",
- "regex-syntax 0.8.5",
+ "regex-syntax",
 ]

-[[package]]
-name = "regex-syntax"
-version = "0.6.29"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f162c6dd7b008981e4d40210aca20b4bd0f9b60ca9271061b07f78537722f2e1"
-
 [[package]]
 name = "regex-syntax"
 version = "0.8.5"
@@ -2558,34 +2535,44 @@ checksum = "22f968c5ea23d555e670b449c1c5e7b2fc399fdaec1d304a17cd48e288abc107"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
 name = "serde"
-version = "1.0.219"
+version = "1.0.228"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5f0e2c6ed6606019b4e29e69dbaba95b11854410e5347d525002456dbbb786b6"
+checksum = "9a8e94ea7f378bd32cbbd37198a4a91436180c5bb472411e48b5ec2e2124ae9e"
+dependencies = [
+ "serde_core",
+ "serde_derive",
+]
+
+[[package]]
+name = "serde_core"
+version = "1.0.228"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "41d385c7d4ca58e59fc732af25c3983b67ac852c1a25000afe1175de458b67ad"
 dependencies = [
 "serde_derive",
 ]

 [[package]]
 name = "serde_derive"
-version = "1.0.219"
+version = "1.0.228"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5b0276cf7f2c73365f7157c8123c21cd9a50fbbd844757af28ca1f5925fc2a00"
+checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
 name = "serde_json"
-version = "1.0.140"
+version = "1.0.143"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "20068b6e96dc6c9bd23e01df8827e6c7e1f2fddd43c21810382803c136b99373"
+checksum = "d401abef1d108fbd9cbaebc3e46611f4b1021f714a0597a71f41ee463f5f4a5a"
 dependencies = [
 "itoa",
 "memchr",
@@ -2659,9 +2646,9 @@ dependencies = [

 [[package]]
 name = "serialport"
-version = "4.7.1"
+version = "4.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2daa7abb9b965493e3c8f4184c6f46435484ff2538a332b886788cf6768b927b"
+checksum = "2acaf3f973e8616d7ceac415f53fc60e190b2a686fbcf8d27d0256c741c5007b"
 dependencies = [
 "bitflags 2.9.0",
 "cfg-if",
@@ -2685,27 +2672,23 @@ dependencies = [
 "axum",
 "bitvec",
 "control_core",
- "crc",
+ "control_core_derive",
 "dhat",
 "ethercat_hal",
 "ethercrab",
 "euclid",
+ "futures",
 "lazy_static",
- "open",
 "opentelemetry",
 "opentelemetry-otlp",
 "opentelemetry_sdk",
 "regex",
 "serde",
 "serde_json",
- "serial",
 "serialport",
 "smol",
 "socketioxide",
 "textplots",
- "thread-priority",
- "tikv-jemalloc-ctl",
- "tikv-jemallocator",
 "tokio",
 "tonic",
 "tower-http",
@@ -2831,9 +2814,9 @@ dependencies = [

 [[package]]
 name = "socketioxide"
-version = "0.17.1"
+version = "0.17.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "85fe8a90fd0cdac0bcb7b3c40c1084f5658f8737c62dfb277f5620cf78f3849a"
+checksum = "476190583b592f1e3d55584269600f2d3c4f18af36adad03c41c27e82dcb6bd5"
 dependencies = [
 "bytes",
 "engineioxide",
@@ -2938,9 +2921,9 @@ dependencies = [

 [[package]]
 name = "syn"
-version = "2.0.101"
+version = "2.0.105"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ce2b7fc941b3a24138a0a7cf8e858bfc6a992e7978a068a5c760deb0ed43caf"
+checksum = "7bc3fcb250e53458e712715cf74285c1f889686520d79294a9ef3bd7aa1fc619"
 dependencies = [
 "proc-macro2",
 "quote",
@@ -2964,7 +2947,7 @@ checksum = "728a70f3dbaf5bab7f0c4b1ac8d7ae5ea60a4b5549c8a5914361c99147a709d2"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -3009,7 +2992,7 @@ checksum = "7f7cf42b4507d8ea322120659672cf1b9dbb93f8f2d4ecfd6e51350ff5b17a1d"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -3018,20 +3001,6 @@ version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3bf63baf9f5039dadc247375c29eb13706706cfde997d0330d05aa63a77d8820"

-[[package]]
-name = "thread-priority"
-version = "1.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cfe075d7053dae61ac5413a34ea7d4913b6e6207844fd726bdd858b37ff72bf5"
-dependencies = [
- "bitflags 2.9.0",
- "cfg-if",
- "libc",
- "log",
- "rustversion",
- "winapi",
-]
-
 [[package]]
 name = "thread_local"
 version = "1.1.8"
@@ -3042,37 +3011,6 @@ dependencies = [
 "once_cell",
 ]

-[[package]]
-name = "tikv-jemalloc-ctl"
-version = "0.6.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f21f216790c8df74ce3ab25b534e0718da5a1916719771d3fec23315c99e468b"
-dependencies = [
- "libc",
- "paste",
- "tikv-jemalloc-sys",
-]
-
-[[package]]
-name = "tikv-jemalloc-sys"
-version = "0.6.0+5.3.0-1-ge13ca993e8ccb9ba9847cc330696e02839f328f7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cd3c60906412afa9c2b5b5a48ca6a5abe5736aec9eb48ad05037a677e52e4e2d"
-dependencies = [
- "cc",
- "libc",
-]
-
-[[package]]
-name = "tikv-jemallocator"
-version = "0.6.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4cec5ff18518d81584f477e9bfdf957f5bb0979b0bac3af4ca30b5b3ae2d2865"
-dependencies = [
- "libc",
- "tikv-jemalloc-sys",
-]
-
 [[package]]
 name = "timerfd"
 version = "1.6.0"
@@ -3104,9 +3042,9 @@ dependencies = [

 [[package]]
 name = "tokio"
-version = "1.45.0"
+version = "1.45.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2513ca694ef9ede0fb23fe71a4ee4107cb102b9dc1930f6d0fd77aae068ae165"
+checksum = "75ef51a33ef1da925cea3e4eb122833cb377c61439ca401b770f54902b806779"
 dependencies = [
 "backtrace",
 "bytes",
@@ -3126,7 +3064,7 @@ checksum = "6e06d43f1345a3bcd39f6a56dbb7dcab2ba47e68e8ac134855e7e2bdbaf8cab8"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -3288,7 +3226,7 @@ checksum = "395ae124c09f9e6918a2310af6038fba074bcf474ac352496d5910dd59a2226d"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -3353,15 +3291,15 @@ dependencies = [

 [[package]]
 name = "tracing-subscriber"
-version = "0.3.19"
+version = "0.3.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e8189decb5ac0fa7bc8b96b7cb9b2701d60d48805aca84a238004d665fcc4008"
+checksum = "2054a14f5307d601f88daf0553e1cbf472acc4f2c51afab632431cdcd72124d5"
 dependencies = [
 "chrono",
 "matchers",
 "nu-ansi-term",
 "once_cell",
- "regex",
+ "regex-automata",
 "sharded-slab",
 "smallvec",
 "thread_local",
@@ -3545,7 +3483,7 @@ dependencies = [
 "log",
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 "wasm-bindgen-shared",
 ]

@@ -3580,7 +3518,7 @@ checksum = "8ae87ea40c9f689fc23f209965b6fb8a99ad69aeeb0231408be24920604395de"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 "wasm-bindgen-backend",
 "wasm-bindgen-shared",
 ]
@@ -3666,7 +3604,7 @@ checksum = "a47fddd13af08290e67f4acabf4b459f647552718f683a7b415d290ac744a836"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -3677,14 +3615,14 @@ checksum = "bd9211b69f8dcdfa817bfd14bf1c97c9188afa36f4750130fcdf3f400eca9fa8"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
 name = "windows-link"
-version = "0.1.1"
+version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76840935b766e1b0a05c0066835fb9ec80071d4c09a16f6bd5f7e655e3c14c38"
+checksum = "5e6ad25900d524eaabdbbb96d20b4311e1e7ae1699af4fb28c17ae66c80d798a"

 [[package]]
 name = "windows-registry"
@@ -3966,7 +3904,7 @@ checksum = "38da3c9736e16c5d3c8c597a9aaa5d1fa565d0532ae05e27c24aa62fb32c0ab6"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 "synstructure",
 ]

@@ -3987,7 +3925,7 @@ checksum = "28a6e20d751156648aa063f3800b706ee209a32c0b4d9f24be3d980b01be55ef"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]

 [[package]]
@@ -4007,7 +3945,7 @@ checksum = "d71e5d6e06ab090c67b5e44993ec16b72dcbaabc526db883a360057678b48502"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 "synstructure",
 ]

@@ -4041,5 +3979,5 @@ checksum = "5b96237efa0c878c64bd89c436f661be4e46b2f3eff1ebb976f7ef2321d2f58f"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.101",
+ "syn 2.0.105",
 ]
@@ -5,6 +5,23 @@ members = [
    "ethercat-hal-derive",
    "control-core",
    "ethercat-eeprom-dump",
+    "control-core-derive",
 ]
 exclude = []
 resolver = "2"
+
+[workspace.lints.clippy]
+# Individual lints (priority 0)
+
+# don't lint poissbilities for let chains because they were introduces after Rust 1.86
+collapsible_if = "allow"
+
+# Lint groups (priority -1)
+correctness = { level = "warn", priority = -1 }
+suspicious = { level = "warn", priority = -1 }
+complexity = { level = "warn", priority = -1 }
+perf = { level = "warn", priority = -1 }
+style = { level = "warn", priority = -1 }
+pendantic = { level = "warn", priority = -1 }
+cargo = { level = "warn", priority = -1 }
+nursery = { level = "warn", priority = -1 }
@@ -4,6 +4,12 @@

 QiTech Control is an industrial control panel software for the next generation of QiTech recycling machines built on top of Beckhoff Automation hardware.

+[![](https://img.youtube.com/vi/KI3YeBwfV-s/maxresdefault.jpg)](https://www.youtube.com/watch?v=KI3YeBwfV-s)
+*Click here to watch a video demo of our software.*
+
+[![](https://img.youtube.com/vi/55egCAkQgyM/maxresdefault.jpg)](https://youtu.be/55egCAkQgyM) 
+*Click here to watch a full explainer Video of our Software.*
+
 # Repo Structure

 Frontend
@@ -29,7 +35,7 @@ Other

 ## Backend

-To interface with Beckhoff and other EtherCAT devices we need an EtherCAY master stoftware. Possibilities are [PySOEM](https://github.com/bnjmnp/pysoem) (Python), [SOEM](https://github.com/OpenEtherCATsociety/SOEM) (C) and [Ethercrab](https://github.com/ethercrab-rs/ethercrab) (Rust). For realtime operation only C and Rust are suitable. We chose Rust because of safety and confidence in the written code.
+To interface with Beckhoff and other EtherCAT devices we need an EtherCAT master stoftware. Possibilities are [PySOEM](https://github.com/bnjmnp/pysoem) (Python), [SOEM](https://github.com/OpenEtherCATsociety/SOEM) (C) and [Ethercrab](https://github.com/ethercrab-rs/ethercrab) (Rust). For realtime operation only C and Rust are suitable. We chose Rust because of safety and confidence in the written code.

 [SocketIO](https://socket.io/) was chosen for performant event driven communication from the backend to the server. But we still use REST with [axum](https://docs.rs/axum/latest/axum/) for the communication thet benefits from the request/response model.

@@ -41,6 +47,8 @@ We could combine the code of the frontend and backend using [Doxius](https://dio

 # Dev Setup

+[Developer Documentation](./docs/developer-docs/)
+
 ## Backend

 - Rust stable 1.86^ toolchain (install via [rustup](https://rustup.rs/))
@@ -59,13 +67,12 @@ We could combine the code of the frontend and backend using [Doxius](https://dio
 | Machine Type | Version | Release Date | Description                 | Change to Previous Version                             | Vendor ID                  | Machine ID | Implemented | Docs                            |
 | ------------ | ------- | ------------ | --------------------------- | ------------------------------------------------------ | -------------------------- | ---------- | ----------- | ------------------------------- |
 | Winder       | V1      | ???          | Winding Filaments & Similar | -                                                      | 1 (Qitech Industries GmbH) | 1          | Reserved    | -                               |
-| Winder       | V2      | 2025         | Winding Filaments & Similar | Reengineered Traverse                                  | 1 (Qitech Industries GmbH) | 2          | In Progress | [](./docs/machines/winder-1.md) |
+| Winder       | V2      | 2025         | Winding Filaments & Similar | Reengineered Traverse                                  | 1 (Qitech Industries GmbH) | 2          | Yes         | [](./docs/machines/winder-1.md) |
 | Extruder     | V1      | ???          | Single Screw Extruder       | -                                                      | 1 (Qitech Industries GmbH) | 3          | Reserved    | -                               |
-| Extruder     | V2      | 2025         | Single Screw Extruder       | PT100 Thermometers, Optional Additional Heating Zone 4 | 1 (Qitech Industries GmbH) | 4          | Not Yet     |                                 |
-| Waterway     | V1      | 2025         | Filament Water Cooling      | -                                                      | 1 (Qitech Industries GmbH) | 5          | Not Yet     |                                 |
-| Laser        | V1      | ???          | Diameter Measuring Laser    | -                                                      | 1 (Qitech Industries GmbH) | 6          | Not Yet     |                                 |
-| Mock         | -       | ???          | Mock Machine for Testing    | -                                                      | 1 (Qitech Industries GmbH) | 7          | Not Yet     | -                               |
-
+| Extruder     | V2      | 2025         | Single Screw Extruder       | PT100 Thermometers, Optional Additional Heating Zone 4 | 1 (Qitech Industries GmbH) | 4          | Yes         |                                 |
+| Waterway     | V1      | 2025         | Filament Water Cooling      | -                                                      | 1 (Qitech Industries GmbH) | 5          | In Progress     |                                 |
+| Laser        | V1      | ???          | Diameter Measuring Laser    | -                                                      | 1 (Qitech Industries GmbH) | 6          | Yes         |                                 |
+| Mock         | -       | ???          | Mock Machine for Testing    | -                                                      | 1 (Qitech Industries GmbH) | 7          | Yes         | -                               |

 # More Docs

@@ -90,8 +97,9 @@ We could combine the code of the frontend and backend using [Doxius](https://dio
    - Write Device Identification

 - Server
-  - [X] [Threading](./docs/control-loop.md)
-  - [X] [Logging](./docs/logging.md)
+
+  - [x] [Threading](./docs/control-loop.md)
+  - [x] [Logging](./docs/logging.md)
  - [ ] Control Loop Setup
    - Control Loop Thread
      - [ ] realtime
@@ -1,13 +1,31 @@
 #!/bin/bash

-if [ $1 == "release" ]; then
+set -e
+
+FEATURE=""
+
+# Check if "mock-machine" was passed as an argument
+if [[ "$1" == "mock-machine" ]]; then
+    echo "Building Debug Code with mock-machine feature"
+    FEATURE="--features mock-machine"
+fi
+
+if [[ "$1" == "release" ]]; then
    echo "building Release Code"
    cargo build --release
 else
-    echo "building Debug Code"
-    cargo build
+    echo "Building Debug Code"
+    cargo build $FEATURE
 fi
-# set cap for server executable
-sudo setcap cap_net_raw=eip ./target/debug/server
+
+# Only setcap if not building with mock-machine
+if [ "$1" != "mock-machine" ]; then
+    echo "Setting capabilities for server executable"
+    sudo setcap 'cap_net_raw,cap_sys_nice=eip' ./target/debug/server
+
+    echo "Setting permissions for serial ports"
+#    sudo chown "root:$(groups | cut -f1 -d' ')" /dev/ttyUSB*
+fi
+
 # run
 ./target/debug/server
@@ -0,0 +1,43 @@
+#!/bin/bash
+
+# Nix store uses sqlite ... SO HAHAHAHAHH NO CONCURRENT ACCESS AHAHAHHAHAHAHHAHAHAHAH
+time nix build .#packages.x86_64-linux.server --impure --extra-experimental-features nix-command --extra-experimental-features flakes --out-link /tmp/server-result
+serverstore=$(readlink -f /tmp/server-result) 
+
+time nix build .#packages.x86_64-linux.electron --impure --option sandbox false --extra-experimental-features nix-command --extra-experimental-features flakes --out-link /tmp/electron-result
+electronstore=$(readlink -f /tmp/electron-result)
+
+
+nix copy --to "file:///opt/dev-cache" \
+  $(readlink -f /tmp/server-result) \
+  $(readlink -f /tmp/electron-result) --extra-experimental-features nix-command
+
+nix store sign \
+  --key-file /opt/dev-cache/cache-private-key.pem \
+  --store "file:///opt/dev-cache" \
+  --extra-experimental-features nix-command \
+  "$serverstore" "$electronstore"
+
+
+nix path-info "$serverstore" --extra-experimental-features nix-command --extra-experimental-features flakes
+
+
+# nix verify --store "file:///opt/dev-cache" \
+#   --trusted-public-keys "$(cat /opt/dev-cache/cache-public-key.pem)" --extra-experimental-features nix-command --extra-experimental-features flakes \
+#   "$FIRST_PATH" || echo "Verification failed!" 
+
+
+#time nix build .#packages.x86_64-linux.electron --extra-experimental-features nix-command --extra-experimental-features flakes --out-link /tmp/electron-result
+#electronstore=$(readlink -f /tmp/electron-result)
+
+#nix-store --generate-binary-cache-key cache.key cache.pem --extra-experimental-features nix-command
+#nix store sign --key-file cache.key "$serverstore" --extra-experimental-features nix-command
+#nix path-info --json "$serverstore" --extra-experimental-features nix-command --extra-experimental-features flakes
+#export
+#nix-store --export /nix/store/<hash>-server > nix-cache/server.nar
+#nix-store --export /nix/store/<hash>-electron > nix-cache/electron.nar
+
+# Any http server
+# cd ~/nix-cache
+# python3 -m http.server 8080
+# 
@@ -0,0 +1,15 @@
+[package]
+name = "control_core_derive"
+version = "0.1.0"
+edition = "2024"
+
+[lints]
+workspace = true
+
+[lib]
+proc-macro = true
+
+[dependencies]
+proc-macro2 = "1.0"
+quote = "1.0"
+syn = { version = "2.0", features = ["full"] }
@@ -0,0 +1,65 @@
+use proc_macro::TokenStream;
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use syn::{DeriveInput, Error};
+
+#[proc_macro_derive(BuildEvent)]
+pub fn build_event_derive(item: TokenStream) -> TokenStream {
+    build_event_derive2(item.into()).unwrap().into()
+}
+
+fn build_event_derive2(item: TokenStream2) -> Result<TokenStream2, Error> {
+    // Parse the input tokens into a syntax tree
+    let ast: DeriveInput = syn::parse2(item)?;
+
+    let ident = &ast.ident;
+    let (impl_generics, ty_generics, where_clause) = ast.generics.split_for_impl();
+
+    // Generate the BuildEvent impl
+    let expanded = quote! {
+        impl #impl_generics control_core::socketio::event::BuildEvent for #ident #ty_generics #where_clause {
+            #[doc = "Implemented by the BuildEvent derive macro"]
+            fn build(&self) -> control_core::socketio::event::Event<Self> {
+
+                control_core::socketio::event::Event::new(stringify!(#ident), self.clone())
+
+            }
+        }
+    };
+
+    Ok(expanded)
+}
+
+#[proc_macro_derive(Machine)]
+pub fn machine_derive(item: TokenStream) -> TokenStream {
+    machine_derive2(item.into()).unwrap().into()
+}
+
+fn machine_derive2(item: TokenStream2) -> Result<TokenStream2, Error> {
+    // Parse the input tokens into a syntax tree
+    let ast: DeriveInput = syn::parse2(item)?;
+
+    let ident = &ast.ident;
+
+    let (impl_generics, ty_generics, where_clause) = ast.generics.split_for_impl();
+
+    let expanded = quote! {
+        impl #impl_generics control_core::machines::Machine for #ident #ty_generics #where_clause {
+            fn get_machine_identification_unique(&self) -> control_core::machines::identification::MachineIdentificationUnique {
+                self.machine_identification_unique.clone()
+            }
+        }
+
+        impl #impl_generics control_core::machines::AnyGetters for #ident #ty_generics #where_clause {
+            fn as_any(&self) -> &dyn std::any::Any {
+                self
+            }
+
+            fn as_any_mut(&mut self) -> &mut dyn std::any::Any {
+                self
+            }
+        }
+    };
+
+    Ok(expanded)
+}
@@ -3,23 +3,45 @@ name = "control_core"
 version = "0.1.0"
 edition = "2024"

+[lints]
+workspace = true
+
 [dependencies]
-anyhow = "1.0.98"
-axum = "0.8.4"
+anyhow = "1.0.100"
+
+axum = "0.8.6"
+
 ethercat_hal = { path = "../ethercat-hal" }
 ethercrab = "0.6"
 interfaces = "0.0.9"
 serde = "1.0.219"
-serde_json = "1.0.140"
-serialport = "4.7.1"
+serde_json = "1.0.143"
+serialport = "4.7.3"
 smol = "2.0.2"
-socketioxide = "0.17.1"
-uom = "0.36.0"
+socketioxide = "0.17.2"
+uom = { version = "0.36.0", default-features = false, features = ["f64"] }
 bitvec = { version = "1.0.1", features = ["alloc"] }
 crc = "3.3.0"
 serial = "0.4.0"
 tracing = "0.1.41"
-erased-serde = "0.4.6"
+erased-serde = "0.4.8"
+core_affinity = "0.8.3"
+control_core_derive = { version = "0.1.0", path = "../control-core-derive" }
+tokio = { version = "1.45.1", features = ["sync"], optional = true }
+
+
+[target.'cfg(unix)'.dependencies]
+libc = "0.2.176"
+
 [dev-dependencies]
 approx = "0.5.1"
 textplots = "0.8"
+tokio = { version = "1.45.1", features = ["rt-multi-thread", "macros", "time"] }
+
+
+[features]
+default = []
+video-streaming = ["dep:tokio"]
+
+[package.metadata.cargo-machete]
+ignored =  ["axum","bitvec","control_core_derive"]
@@ -1,91 +0,0 @@
-use super::Actor;
-use ethercat_hal::io::analog_output::AnalogOutput;
-use std::{
-    f64::consts::PI,
-    future::Future,
-    pin::Pin,
-    time::{Duration, Instant},
-};
-use uom::si::{angle::radian, f64::Angle, ratio::ratio};
-pub type AnalogFunction = Box<dyn Fn(Duration) -> f64 + Send + Sync>;
-
-/// Can module analog output with a function
-pub struct AnalogFunctionGenerator {
-    output: AnalogOutput,
-    function: AnalogFunction,
-    start_ts: Instant,
-}
-
-impl AnalogFunctionGenerator {
-    pub fn new(output: AnalogOutput, function: AnalogFunction) -> Self {
-        Self {
-            output,
-            function,
-            start_ts: Instant::now(),
-        }
-    }
-}
-
-impl Actor for AnalogFunctionGenerator {
-    fn act(&mut self, now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            let diff = now - self.start_ts;
-            let value = (self.function)(diff);
-            (self.output.write)((value as f32).into()).await;
-        })
-    }
-}
-
-pub fn analog_sine(amplitude: f64, normal: f64, period: Duration) -> AnalogFunction {
-    Box::new(move |dt: Duration| {
-        // Convert to seconds as f64 for calculation
-        let dt_secs = dt.as_secs_f64();
-        let period_secs = period.as_secs_f64();
-        let phase_secs = dt_secs % period_secs;
-        let angle = Angle::new::<radian>(2.0 * PI * phase_secs / period_secs);
-        let value = angle.sin().get::<ratio>();
-        value * (amplitude / 2.0) + normal + (amplitude / 2.0)
-    })
-}
-
-pub fn analog_multiply<const N: usize>(functions: [AnalogFunction; N]) -> AnalogFunction {
-    Box::new(move |dt: Duration| functions.iter().fold(1.0, |acc, func| acc * func(dt)))
-}
-
-pub fn analog_sawtooth(amplitude: f64, normal: f64, period: Duration) -> AnalogFunction {
-    Box::new(move |dt: Duration| {
-        let dt_secs = dt.as_secs_f64();
-        let period_secs = period.as_secs_f64();
-        let phase_secs = dt_secs % period_secs;
-        let value = phase_secs / period_secs;
-        value * amplitude + normal
-    })
-}
-
-pub fn analog_square(amplitude: f64, normal: f64, period: Duration) -> AnalogFunction {
-    Box::new(move |dt: Duration| {
-        let dt_secs = dt.as_secs_f64();
-        let period_secs = period.as_secs_f64();
-        let phase_secs = dt_secs % period_secs;
-        let value = if phase_secs < period_secs / 2.0 {
-            1.0
-        } else {
-            -1.0
-        };
-        value * amplitude + normal
-    })
-}
-
-pub fn analog_triangle(amplitude: f64, normal: f64, period: Duration) -> AnalogFunction {
-    Box::new(move |dt: Duration| {
-        let dt_secs = dt.as_secs_f64();
-        let period_secs = period.as_secs_f64();
-        let phase_secs = dt_secs % period_secs;
-        let value = if phase_secs < period_secs / 2.0 {
-            phase_secs / period_secs * 2.0
-        } else {
-            2.0 - phase_secs / period_secs * 2.0
-        };
-        value * amplitude + normal
-    })
-}
@@ -1,40 +0,0 @@
-use super::Actor;
-use ethercat_hal::io::analog_input::{AnalogInput, physical::AnalogInputValue};
-use std::{future::Future, pin::Pin, time::Instant};
-
-/// Log the state of a analog input
-#[derive(Debug)]
-pub struct AnalogInputGetter {
-    input: AnalogInput,
-    normalized: Option<f32>,
-}
-
-impl AnalogInputGetter {
-    pub fn new(input: AnalogInput) -> Self {
-        Self {
-            input,
-            normalized: None,
-        }
-    }
-
-    /// Value from -1.0 to 1.0
-    pub fn get_normalized(&self) -> Option<f32> {
-        self.normalized
-    }
-
-    pub fn get_physical(&self) -> Option<AnalogInputValue> {
-        match self.get_normalized() {
-            Some(normalized) => Some(self.input.range.normalized_to_physical(normalized)),
-            None => return None,
-        }
-    }
-}
-
-impl Actor for AnalogInputGetter {
-    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            let state = (self.input.state)().await;
-            self.normalized = Some(state.input.normalized);
-        })
-    }
-}
@@ -1,35 +0,0 @@
-use super::Actor;
-use ethercat_hal::io::digital_input::DigitalInput;
-use std::{future::Future, pin::Pin, time::Instant};
-
-/// Log the state of a digital input
-#[derive(Debug)]
-pub struct DigitalInputGetter {
-    input: DigitalInput,
-    value: bool,
-}
-
-impl DigitalInputGetter {
-    pub fn new(input: DigitalInput) -> Self {
-        Self {
-            input,
-            value: false,
-        }
-    }
-
-    /// Get the current value of the digital input
-    pub fn value(&self) -> bool {
-        self.value
-    }
-}
-
-impl Actor for DigitalInputGetter {
-    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            let state = (self.input.state)()
-                .await
-                .expect("Failed to get digital input state");
-            self.value = state.input.value;
-        })
-    }
-}
@@ -1,25 +0,0 @@
-use super::Actor;
-use ethercat_hal::io::digital_input::DigitalInput;
-use std::{future::Future, pin::Pin, time::Instant};
-
-/// Log the state of a digital input
-pub struct DigitalInputLogger {
-    input: DigitalInput,
-}
-
-impl DigitalInputLogger {
-    pub fn new(input: DigitalInput) -> Self {
-        Self { input }
-    }
-}
-
-impl Actor for DigitalInputLogger {
-    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            let state = (self.input.state)()
-                .await
-                .expect("Failed to get digital input state");
-            println!("DigitalInputLogger: {}", state.input.value);
-        })
-    }
-}
@@ -1,51 +0,0 @@
-use super::Actor;
-use ethercat_hal::io::digital_output::DigitalOutput;
-use std::{
-    future::Future,
-    pin::Pin,
-    time::{Duration, Instant},
-};
-
-/// Set a digital output high and low with a given interval
-#[derive(Debug)]
-pub struct DigitalOutputBlinker {
-    last_toggle: Instant,
-    output: DigitalOutput,
-    interval: Duration,
-    enabled: bool,
-}
-
-impl DigitalOutputBlinker {
-    pub fn new(output: DigitalOutput, interval: Duration) -> Self {
-        Self {
-            last_toggle: Instant::now(),
-            output,
-            interval,
-            enabled: true,
-        }
-    }
-    pub fn set_interval(&mut self, interval: Duration) {
-        self.interval = interval;
-    }
-
-    pub fn set_enabled(&mut self, enabled: bool) {
-        self.enabled = enabled;
-    }
-}
-
-impl Actor for DigitalOutputBlinker {
-    fn act(&mut self, now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            {
-                let state = (self.output.state)().await;
-                if now - self.last_toggle > self.interval {
-                    match state.output.into() {
-                        true => (self.output.write)(false.into()).await,
-                        false => (self.output.write)(true.into()).await,
-                    }
-                    self.last_toggle = now;
-                }
-            }
-        })
-    }
-}
@@ -1,57 +0,0 @@
-use super::Actor;
-use ethercat_hal::io::digital_output::DigitalOutput;
-use std::{
-    future::Future,
-    pin::Pin,
-    time::{Duration, Instant},
-};
-
-/// Set a series of digital outputs high in sequence with a given interval
-pub struct DigitalOutputBlinkers {
-    last_toggle: Instant,
-    outputs: Vec<Option<DigitalOutput>>,
-    index: usize,
-    interval: Duration,
-    enabled: bool,
-    amount: usize,
-}
-
-impl DigitalOutputBlinkers {
-    pub fn new(outputs: Vec<Option<DigitalOutput>>, interval: Duration, amount: usize) -> Self {
-        Self {
-            last_toggle: Instant::now(),
-            outputs,
-            interval,
-            enabled: true,
-            index: 0,
-            amount,
-        }
-    }
-
-    pub fn set_interval(&mut self, interval: Duration) {
-        self.interval = interval;
-    }
-
-    pub fn set_enabled(&mut self, enabled: bool) {
-        self.enabled = enabled;
-    }
-}
-
-impl Actor for DigitalOutputBlinkers {
-    fn act(&mut self, now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            if now - self.last_toggle > self.interval {
-                if let Some(output) = &self.outputs[self.index] {
-                    (output.write)(true.into()).await;
-                }
-                let index_end =
-                    (self.index + self.outputs.len() - self.amount) % self.outputs.len();
-                if let Some(output) = &self.outputs[index_end] {
-                    (output.write)(false.into()).await;
-                }
-                self.last_toggle = now;
-                self.index = (self.index + 1) % self.outputs.len();
-            }
-        })
-    }
-}
@@ -1,38 +0,0 @@
-use super::Actor;
-use ethercat_hal::io::digital_output::DigitalOutput;
-use std::{future::Future, pin::Pin, time::Instant};
-
-/// Set a digital output high and low with a given interval
-#[derive(Debug)]
-pub struct DigitalOutputSetter {
-    output: DigitalOutput,
-    enabled: bool,
-}
-
-impl DigitalOutputSetter {
-    pub fn new(output: DigitalOutput) -> Self {
-        Self {
-            output,
-            enabled: false,
-        }
-    }
-    pub fn set(&mut self, enabled: bool) {
-        self.enabled = enabled;
-    }
-    pub fn get(&self) -> bool {
-        self.enabled
-    }
-    pub fn toggle(&mut self) {
-        self.enabled = !self.enabled;
-    }
-}
-
-impl Actor for DigitalOutputSetter {
-    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            {
-                (self.output.write)(self.enabled.into()).await;
-            }
-        })
-    }
-}
@@ -1,19 +0,0 @@
-pub mod analog_function_generator;
-pub mod analog_input_getter;
-pub mod digital_input_getter;
-pub mod digital_input_logger;
-pub mod digital_output_blinker;
-pub mod digital_output_blinkers;
-pub mod digital_output_setter;
-pub mod serial_interface_actor;
-pub mod stepper_driver_el70x1;
-pub mod stepper_driver_max_speed;
-pub mod stepper_driver_pulse_train;
-pub mod temperature_input_getter;
-pub mod temperature_input_logger;
-
-use std::{pin::Pin, time::Instant};
-
-pub trait Actor: Send + Sync {
-    fn act(&mut self, now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>>;
-}
@@ -1,337 +0,0 @@
-use crate::modbus::{ModbusRequest, ModbusResponse};
-use ethercat_hal::io::serial_interface::{SerialEncoding, SerialInterface};
-use std::{
-    collections::HashMap,
-    pin::Pin,
-    time::{Duration, Instant},
-};
-
-#[derive(Debug, Clone)]
-struct RequestMetaData {
-    pub priority: u32,
-    pub ignored_times: u32,
-    /// This is used when a machine for example takes 4ms to process the request
-    /// and is added ontop of the standard waiting time for a serial transfer
-    pub extra_delay: Option<u32>,
-    pub no_response_expected: bool,
-}
-
-#[derive(Debug)]
-pub enum State {
-    /// WaitingForResponse is set after sending a request through the serial_interface
-    WaitingForResponse,
-    /// After Sending a Resuest we need to wait atleast one ethercat cycle
-    /// After one Cycle we check if el6021 status has transmit accepted toggled
-    /// Then we can set state = ReadyToSend
-    WaitingForRequestAccept,
-    /// After Receiving a Response we need to wait atleast one ethercat cycle
-    /// After one Cycle we check if el6021 status has received accepted toggled
-    WaitingForReceiveAccept,
-    /// ReadyToSend is set after receiving the response from the serial_interface
-    ReadyToSend,
-    /// Initial State
-    Uninitialized,
-}
-
-#[derive(Debug)]
-pub struct SerialInterfaceActor {
-    pub serial_interface: SerialInterface,
-    pub baudrate: Option<u32>,
-    pub encoding: Option<SerialEncoding>,
-    pub response: Option<ModbusResponse>,
-    pub state: State,
-
-    pub last_message_size: usize,
-    pub last_message_delay: u32,
-    pub last_message_id: u32,
-    pub no_response_expected: bool,
-
-    request_map: HashMap<u32, ModbusRequest>,
-    request_metadata_map: HashMap<u32, RequestMetaData>,
-    last_ts: Instant,
-}
-
-impl SerialInterfaceActor {
-    pub fn new(serial_interface: SerialInterface) -> Self {
-        Self {
-            serial_interface,
-            baudrate: None,
-            encoding: None,
-            request_map: HashMap::new(),
-            request_metadata_map: HashMap::new(),
-            response: None,
-            last_message_size: 0,
-            last_message_delay: 0,
-            state: State::Uninitialized,
-            last_ts: Instant::now(),
-            last_message_id: 0,
-            no_response_expected: false,
-        }
-    }
-
-    pub fn is_initialized(&mut self) -> bool {
-        if let State::Uninitialized = self.state {
-            return false;
-        } else {
-            return true;
-        }
-    }
-
-    pub fn add_request(
-        &mut self,
-        request_id: u32,
-        priority: u32,
-        request: ModbusRequest,
-        no_response_expected: bool,
-        delay: Option<u32>,
-    ) {
-        self.request_map.insert(request_id, request);
-        if !self.request_metadata_map.contains_key(&request_id) {
-            let meta_data = RequestMetaData {
-                priority,
-                ignored_times: 0,
-                extra_delay: delay,
-                no_response_expected: no_response_expected,
-            };
-            self.request_metadata_map.insert(request_id, meta_data);
-        }
-    }
-
-    /// This is used internally to read the receive buffer of the el6021
-    fn read_modbus_response(
-        &mut self,
-    ) -> Pin<Box<dyn Future<Output = Result<ModbusResponse, anyhow::Error>> + Send + '_>> {
-        Box::pin(async move {
-            let res: Option<Vec<u8>> = (self.serial_interface.read_message)().await;
-            let raw_response = match res {
-                Some(res) => res,
-                None => {
-                    vec![]
-                }
-            };
-
-            let response: Result<ModbusResponse, _> =
-                ModbusResponse::try_from(raw_response.clone());
-            match response {
-                Ok(result) => {
-                    self.last_message_size = result.clone().data.len() + 4;
-                    self.state = State::WaitingForReceiveAccept;
-                    Ok(result)
-                }
-                Err(err) => {
-                    self.last_message_size = 22;
-
-                    Err(anyhow::anyhow!(err))
-                }
-            }
-        })
-    }
-
-    /// This is used internally to fill the write buffer of the el6021 with the modbus request
-    /// Decides what requests to send first by finding the one with the highest priority
-    /// For example Highest Priority requests: ResetInverter StopMotor    
-    fn send_modbus_request(&mut self) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            if self.request_map.len() == 0 {
-                return;
-            };
-
-            let mut highest_prio_request: Option<&ModbusRequest> = None;
-            let mut highest_priority: u32 = 0;
-            let mut highest_id: &u32 = &0;
-            let mut delay: u32 = 0;
-            let mut no_response_expected: bool = false;
-
-            for (key, value) in self.request_metadata_map.iter_mut() {
-                // borrowchecker complaining
-                let priority = value.priority as u32;
-                let ignored_times = value.ignored_times;
-                let effective_priority: u32 = priority as u32 + ignored_times;
-
-                if effective_priority > highest_priority {
-                    highest_prio_request = self.request_map.get(key);
-                    highest_priority = effective_priority;
-                    highest_id = key;
-
-                    delay = match value.extra_delay {
-                        Some(delay) => delay,
-                        None => 0,
-                    };
-                    no_response_expected = value.no_response_expected;
-                }
-            }
-
-            let request = match highest_prio_request {
-                Some(request) => request,
-                None => return,
-            };
-            let modbus_request: Vec<u8> = request.clone().into();
-
-            let res = (self.serial_interface.write_message)(modbus_request.clone()).await;
-            match res {
-                Ok(_) => {
-                    self.last_message_delay = delay;
-                    self.last_message_id = *highest_id;
-                    self.no_response_expected = no_response_expected;
-                }
-                Err(_) => tracing::error!("ERROR: serial_interface.write_message has failed"),
-            }
-            self.state = State::WaitingForRequestAccept;
-            self.last_message_size = modbus_request.len();
-        })
-    }
-
-    pub async fn initialize_communication_settings(&mut self) -> bool {
-        let baudrate = (self.serial_interface.get_baudrate)().await;
-        let encoding = (self.serial_interface.get_serial_encoding)().await;
-
-        match encoding {
-            None => return false,
-            Some(_) => (),
-        };
-        match baudrate {
-            None => return false,
-            Some(_) => (),
-        };
-
-        self.baudrate = baudrate;
-        self.encoding = encoding;
-
-        return true;
-    }
-
-    pub async fn initialize(&mut self) -> bool {
-        if let State::Uninitialized = self.state {
-            let res = (self.serial_interface.initialize)().await;
-
-            if res == true {
-                self.state = State::ReadyToSend;
-                self.initialize_communication_settings().await;
-                return res;
-            }
-            return res;
-        }
-        return false;
-    }
-
-    fn set_ignored_times_modbus_requests(&mut self) {
-        for (_, value) in self.request_metadata_map.iter_mut() {
-            value.ignored_times += 1;
-        }
-    }
-
-    /// Modbus RTU has silent time between frames that needs to be adhered to, if you send before silent_time is over between frames, then there will be lost frames
-    /// This silent time is needed to identify the start and end of messages
-    /// This function also takes into account the time that the slave we are talking to needs to process our request
-    /// bits: amount of bits sent per byte -> for a 8n1 coding: 8 data bits, 0 parity, 1 stop bit (1 start,1 stop) -> 10 bits
-    /// machine_operation_delay_nano: Delay for the given operation in nanoseconds as specified by the slaves datasheet (example: mitsubishi csfr84 has 12ms for read write in RAM)
-    /// baudrate: bits per second
-    /// message_size: size of original message in bytes
-    pub fn calculate_modbus_rtu_timeout(
-        &self,
-        machine_operation_delay_nano: Duration,
-        message_size: usize,
-    ) -> Option<Duration> {
-        let baudrate = match self.baudrate {
-            Some(baudrate) => baudrate,
-            None => return None,
-        };
-
-        let bits = match self.encoding {
-            Some(encoding) => encoding.total_bits(),
-            None => return None,
-        };
-
-        let nanoseconds_per_bit: u64 = (1000000 / baudrate) as u64;
-        let nanoseconds_per_byte: u64 = bits as u64 * nanoseconds_per_bit as u64;
-
-        let transmission_timeout: u64 = nanoseconds_per_byte * message_size as u64;
-        let silent_time: u64 = (nanoseconds_per_byte * (35)) / 10 as u64; // silent_time is 3.5x of character length,which is 11 bit for 8E1
-
-        let mut full_timeout: u64 = transmission_timeout;
-        full_timeout += machine_operation_delay_nano.as_nanos() as u64;
-        full_timeout += silent_time;
-
-        return Some(Duration::from_nanos(full_timeout));
-    }
-
-    pub fn get_response(&self) -> Option<ModbusResponse> {
-        return self.response.clone();
-    }
-
-    pub fn act(&mut self, now_ts: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            let elapsed: Duration = now_ts.duration_since(self.last_ts);
-
-            let timeout = self.calculate_modbus_rtu_timeout(
-                Duration::from_nanos(self.last_message_delay as u64),
-                self.last_message_size,
-            );
-
-            let timeout = match timeout {
-                Some(timeout) => timeout,
-                None => return,
-            };
-
-            match self.state {
-                State::Uninitialized => (),
-                State::WaitingForReceiveAccept => (),
-                State::WaitingForRequestAccept => (),
-                _ => {
-                    if elapsed < timeout {
-                        return;
-                    }
-                }
-            }
-
-            self.last_ts = now_ts;
-            self.response = None;
-
-            match self.state {
-                State::WaitingForResponse => {
-                    let ret = self.read_modbus_response().await;
-                    match ret {
-                        Ok(ret) => {
-                            self.response = Some(ret);
-                        }
-                        Err(_) => {
-                            self.response = None;
-                            if self.no_response_expected {
-                                self.state = State::ReadyToSend;
-                                return;
-                            }
-                        }
-                    }
-                }
-                State::ReadyToSend => {
-                    self.last_message_id = 0;
-                    self.send_modbus_request().await;
-                    self.request_map.remove(&self.last_message_id);
-                    self.request_metadata_map.remove(&self.last_message_id);
-                    self.set_ignored_times_modbus_requests();
-                }
-                State::WaitingForReceiveAccept => {
-                    // Waste atleast one Ethercat Cycle here to ensure that request/response stay in sync
-                    self.state = State::ReadyToSend;
-                }
-                State::WaitingForRequestAccept => {
-                    // An empty vec is used to check if we are finished with writing the message
-                    // This is to keep the Serialinterface more simple
-                    let res = (self.serial_interface.write_message)(vec![]).await;
-                    let finished = match res {
-                        Ok(res) => res,
-                        Err(_) => {
-                            self.state = State::ReadyToSend;
-                            return;
-                        }
-                    };
-
-                    if finished == true {
-                        self.state = State::WaitingForResponse;
-                    }
-                }
-                _ => (),
-            }
-        })
-    }
-}
@@ -1,91 +0,0 @@
-use super::Actor;
-use core::panic;
-use ethercat_hal::{
-    helpers::el70xx_velocity_converter::EL70x1VelocityConverter,
-    io::stepper_velocity_el70x1::StepperVelocityEL70x1, shared_config::el70x1::EL70x1SpeedRange,
-};
-use std::{future::Future, pin::Pin, time::Instant};
-
-/// Set a digital output high and low with a given interval
-#[derive(Debug)]
-pub struct StepperDriverEL70x1 {
-    stepper: StepperVelocityEL70x1,
-    enabled: bool,
-    velocity: i16,
-    position: i128,
-    set_position: Option<i128>,
-    pub converter: EL70x1VelocityConverter,
-}
-
-impl StepperDriverEL70x1 {
-    pub fn new(stepper: StepperVelocityEL70x1, speed_range: &EL70x1SpeedRange) -> Self {
-        Self {
-            stepper,
-            enabled: false,
-            velocity: 0,
-            converter: EL70x1VelocityConverter::new(speed_range),
-            position: 0,
-            set_position: None,
-        }
-    }
-
-    /// Set the speed in steps per second
-    pub fn set_speed(&mut self, steps_per_second: f64) {
-        self.velocity = self.converter.steps_to_velocity(steps_per_second, true)
-    }
-
-    /// Get the speed in steps per second
-    pub fn get_speed(&self) -> i32 {
-        self.converter.velocity_to_steps(self.velocity, true) as i32
-    }
-
-    /// Enable or disable the stepper
-    pub fn set_enabled(&mut self, enabled: bool) {
-        self.enabled = enabled;
-    }
-
-    /// Get the enabled state of the stepper
-    pub fn is_enabled(&self) -> bool {
-        self.enabled
-    }
-
-    /// Get the current position of the stepper
-    pub fn get_position(&self) -> i128 {
-        self.position
-    }
-
-    /// Set the position of the stepper
-    pub fn set_position(&mut self, position: i128) {
-        self.set_position = Some(position);
-    }
-}
-
-impl Actor for StepperDriverEL70x1 {
-    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            let state = match (self.stepper.state)().await {
-                Ok(state) => state,
-                Err(e) => {
-                    panic!("Error while reading StepperVelocity {:?}", e);
-                }
-            };
-            // set the input
-            self.position = state.input.counter_value;
-
-            let mut output = state.output.clone();
-
-            // set the output
-            output.enable = self.enabled;
-            output.velocity = self.velocity;
-            output.set_counter = self.set_position.take();
-
-            // write the output
-            match (self.stepper.write)(output).await {
-                Ok(_) => {}
-                Err(e) => {
-                    panic!("Error while writing StepperVelocity {:?}", e);
-                }
-            }
-        })
-    }
-}
@@ -1,37 +0,0 @@
-use super::Actor;
-use ethercat_hal::io::digital_output::DigitalOutput;
-use std::{
-    future::Future,
-    pin::Pin,
-    sync::{Arc, RwLock},
-    time::Instant,
-};
-
-/// Set a digital output high and low with a given interval
-pub struct StepperDriverMaxSpeed {
-    pulse: DigitalOutput,
-}
-
-impl StepperDriverMaxSpeed {
-    pub fn new(output: DigitalOutput) -> Self {
-        Self { pulse: output }
-    }
-}
-
-impl Actor for StepperDriverMaxSpeed {
-    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            let state = (self.pulse.state)().await;
-            match state.output.into() {
-                true => (self.pulse.write)(false.into()).await,
-                false => (self.pulse.write)(true.into()).await,
-            }
-        })
-    }
-}
-
-impl From<StepperDriverMaxSpeed> for Arc<RwLock<StepperDriverMaxSpeed>> {
-    fn from(actor: StepperDriverMaxSpeed) -> Self {
-        Arc::new(RwLock::new(actor))
-    }
-}
@@ -1,222 +0,0 @@
-/// Translates the encoder value to a larger space and handle underflow/overflow situations
-#[derive(Debug)]
-pub struct Encoder {
-    pub position: i64,
-    pub last_encoder_position: u32,
-}
-
-impl Encoder {
-    pub fn new() -> Self {
-        Self {
-            position: 0,
-            last_encoder_position: 0,
-        }
-    }
-
-    pub fn update(&mut self, counter_value: u32, counter_overflow: bool, counter_underflow: bool) {
-        // Handle overflow case
-        if counter_overflow {
-            // When overflow occurs, the counter wraps from MAX to 0
-            // Calculate how much it moved past MAX
-            let delta = counter_value as i64;
-            // Add the remaining distance from last position to MAX, plus the overflow amount
-            self.position += (u32::MAX - self.last_encoder_position) as i64 + 1 + delta;
-        }
-        // Handle underflow case
-        else if counter_underflow {
-            // When underflow occurs, the counter wraps from 0 to MAX
-            // Calculate how much it moved below 0
-            let delta = (u32::MAX - counter_value) as i64;
-            // Subtract the distance from last position to 0, plus the underflow amount
-            self.position -= self.last_encoder_position as i64 + 1 + delta;
-        }
-        // Normal case - no overflow/underflow
-        else {
-            // Calculate the signed difference between current and last position
-            let delta = counter_value as i64 - self.last_encoder_position as i64;
-            // Update the position
-            self.position += delta;
-        }
-
-        // Update the last encoder position for next time
-        self.last_encoder_position = counter_value;
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    /// Tests that the position tracker correctly handles normal forward movement
-    /// without any overflow conditions.
-    ///
-    /// This test verifies:
-    /// 1. Initial state is zeroed
-    /// 2. Moving forward updates both position and last_encoder_position
-    /// 3. Consecutive forward movements accumulate correctly
-    #[test]
-    fn test_normal_forward_movement() {
-        let mut tracker = Encoder::new();
-
-        // Initial state
-        assert_eq!(tracker.position, 0);
-        assert_eq!(tracker.last_encoder_position, 0);
-
-        // Move forward by 100
-        tracker.update(100, false, false);
-        assert_eq!(tracker.position, 100);
-        assert_eq!(tracker.last_encoder_position, 100);
-
-        // Move forward by another 50
-        tracker.update(150, false, false);
-        assert_eq!(tracker.position, 150);
-        assert_eq!(tracker.last_encoder_position, 150);
-    }
-
-    /// Tests that the position tracker correctly handles normal backward movement
-    /// without any underflow conditions.
-    ///
-    /// This test verifies:
-    /// 1. Starting from a non-zero position
-    /// 2. Moving backward updates both position and last_encoder_position
-    /// 3. Consecutive backward movements accumulate correctly
-    #[test]
-    fn test_normal_backward_movement() {
-        let mut tracker = Encoder::new();
-
-        // Start at position 1000
-        tracker.position = 1000;
-        tracker.last_encoder_position = 1000;
-
-        // Move backward by 100
-        tracker.update(900, false, false);
-        assert_eq!(tracker.position, 900);
-        assert_eq!(tracker.last_encoder_position, 900);
-
-        // Move backward by another 50
-        tracker.update(850, false, false);
-        assert_eq!(tracker.position, 850);
-        assert_eq!(tracker.last_encoder_position, 850);
-    }
-
-    /// Tests that the position tracker correctly handles overflow conditions
-    /// where the encoder counter wraps from near its maximum value to a small value.
-    ///
-    /// This test verifies:
-    /// 1. When overflow flag is set, the tracker correctly calculates the true movement
-    /// 2. Position is updated to account for the full distance traveled
-    /// 3. last_encoder_position is updated to the new counter value
-    #[test]
-    fn test_overflow() {
-        let mut tracker = Encoder::new();
-
-        // Set position near the maximum u32 value
-        tracker.position = 100;
-        tracker.last_encoder_position = u32::MAX - 10;
-
-        // Overflow: counter goes from (MAX-10) to 5
-        // This means we moved forward by 10 steps to MAX, then 1 step to overflow,
-        // then 5 more steps to reach the current position
-        tracker.update(5, true, false);
-
-        // Expected: position += (10 + 1 + 5) = position += 16
-        assert_eq!(tracker.position, 116);
-        assert_eq!(tracker.last_encoder_position, 5);
-    }
-
-    /// Tests that the position tracker correctly handles underflow conditions
-    /// where the encoder counter wraps from near zero to a value near its maximum.
-    ///
-    /// This test verifies:
-    /// 1. When underflow flag is set, the tracker correctly calculates the true movement
-    /// 2. Position is updated to account for the full distance traveled (in negative direction)
-    /// 3. last_encoder_position is updated to the new counter value
-    #[test]
-    fn test_underflow() {
-        let mut tracker = Encoder::new();
-
-        // Set position near zero
-        tracker.position = 100;
-        tracker.last_encoder_position = 10;
-
-        // Underflow: counter goes from 10 to (MAX-5)
-        // This means we moved backward by 10 steps to 0, then 1 step to underflow,
-        // then 5 more steps to reach the current position
-        tracker.update(u32::MAX - 5, false, true);
-
-        // Expected: position -= (10 + 1 + 5) = position -= 16
-        assert_eq!(tracker.position, 84);
-        assert_eq!(tracker.last_encoder_position, u32::MAX - 5);
-    }
-
-    /// Tests that the position tracker maintains correct behavior across
-    /// a sequence of different operations including normal movement,
-    /// overflow, and underflow.
-    ///
-    /// This test verifies:
-    /// 1. The tracker maintains state correctly between operations
-    /// 2. Different types of movements can be handled in sequence
-    /// 3. Position calculations remain accurate throughout various scenarios
-    #[test]
-    fn test_multiple_operations() {
-        let mut tracker = Encoder::new();
-
-        // Normal forward
-        tracker.update(100, false, false);
-        assert_eq!(tracker.position, 100);
-
-        // Normal backward
-        tracker.update(50, false, false);
-        assert_eq!(tracker.position, 50);
-
-        // Overflow
-        tracker.last_encoder_position = u32::MAX - 5;
-        tracker.position = 50; // Reset for clarity
-        tracker.update(10, true, false);
-        assert_eq!(tracker.position, 66); // 50 + (5 + 1 + 10)
-
-        // Underflow
-        tracker.last_encoder_position = 5;
-        tracker.position = 100; // Reset for clarity
-        tracker.update(u32::MAX - 10, false, true);
-        assert_eq!(tracker.position, 84); // 100 - (5 + 1 + 10)
-    }
-
-    /// Tests that the position tracker can handle multiple overflow and underflow
-    /// events, maintaining an accurate position count that exceeds the u32 range.
-    ///
-    /// This test verifies:
-    /// 1. Multiple overflow events accumulate correctly in the i64 position
-    /// 2. Multiple underflow events correctly subtract from the position
-    /// 3. The i64 position field properly extends the range beyond u32 limits
-    #[test]
-    fn test_large_movements() {
-        let mut tracker = Encoder::new();
-
-        // Test tracking beyond u32 limits with multiple overflows
-        for _ in 0..5 {
-            // Simulate overflow: move from (MAX-100) to 100
-            tracker.last_encoder_position = u32::MAX - 100;
-            tracker.update(100, true, false);
-
-            // Each iteration adds (100 + 1 + 100) = 201 to position
-            // We move 100 steps to MAX, 1 step to overflow, and 100 more steps to reach 100
-        }
-
-        // After 5 iterations, position should be 5 * 201 = 1005
-        assert_eq!(tracker.position, 1005);
-
-        // Test tracking with multiple underflows
-        for _ in 0..3 {
-            // Simulate underflow: move from 100 to (MAX-100)
-            tracker.last_encoder_position = 100;
-            tracker.update(u32::MAX - 100, false, true);
-
-            // Each iteration subtracts (100 + 1 + 100) = 201 from position
-            // We move 100 steps to 0, 1 step to underflow, and 100 more steps to reach MAX-100
-        }
-
-        // Final position: 1005 - (3 * 201) = 1005 - 603 = 402
-        assert_eq!(tracker.position, 402);
-    }
-}
@@ -1,51 +0,0 @@
-use super::Actor;
-use encoder::Encoder;
-use ethercat_hal::io::pulse_train_output::PulseTrainOutput;
-use std::{future::Future, pin::Pin, time::Instant};
-
-pub mod encoder;
-
-/// Set a digital output high and low with a given interval
-#[derive(Debug)]
-pub struct StepperDriverPulseTrain {
-    pulse: PulseTrainOutput,
-    encoder: Encoder,
-    frequency: i32,
-}
-
-impl<'ptodevice> StepperDriverPulseTrain {
-    pub fn new(output: PulseTrainOutput) -> Self {
-        Self {
-            pulse: output,
-            encoder: Encoder::new(),
-            frequency: 0,
-        }
-    }
-}
-
-impl<'ptodevice> Actor for StepperDriverPulseTrain {
-    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            let state = (self.pulse.state)().await;
-            let mut output = state.output.clone();
-
-            // sync the counter to the encoder
-            self.encoder.update(
-                state.input.counter_value,
-                state.input.counter_overflow,
-                state.input.counter_underflow,
-            );
-
-            // write frequency
-            output.frequency_value = self.frequency;
-
-            (self.pulse.write)(output).await;
-        })
-    }
-}
-
-impl<'ptodevice> StepperDriverPulseTrain {
-    pub fn set_frequency(&mut self, frequency: i32) {
-        self.frequency = frequency;
-    }
-}
@@ -1,43 +0,0 @@
-use std::{pin::Pin, time::Instant};
-
-use ethercat_hal::io::temperature_input::TemperatureInput;
-
-use super::Actor;
-
-#[derive(Debug)]
-pub struct TemperatureInputGetter {
-    input: TemperatureInput,
-    temperature: f64,
-    wiring_error: bool,
-}
-
-impl TemperatureInputGetter {
-    pub fn new(input: TemperatureInput) -> Self {
-        Self {
-            input,
-            temperature: 0.0,
-            wiring_error: false,
-        }
-    }
-
-    pub fn get_temperature(&self) -> f64 {
-        self.temperature
-    }
-
-    pub fn get_wiring_error(&self) -> bool {
-        self.wiring_error
-    }
-}
-
-impl Actor for TemperatureInputGetter {
-    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            let input = (self.input.state)().await.input;
-            self.temperature = input.temperature as f64;
-            self.wiring_error = input.overvoltage | input.undervoltage;
-            if self.wiring_error {
-                self.temperature = 0.0;
-            }
-        })
-    }
-}
@@ -1,23 +0,0 @@
-use super::Actor;
-use ethercat_hal::io::temperature_input::TemperatureInput;
-use std::{future::Future, pin::Pin, time::Instant};
-
-/// Log the state of a temperature input
-pub struct TemperatureInputLogger {
-    input: TemperatureInput,
-}
-
-impl TemperatureInputLogger {
-    pub fn new(input: TemperatureInput) -> Self {
-        Self { input }
-    }
-}
-
-impl Actor for TemperatureInputLogger {
-    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            let state = (self.input.state)().await;
-            println!("TemperatureInputLogger: {:?}C", state.input.temperature);
-        })
-    }
-}
@@ -33,7 +33,7 @@ pub struct ClampingTimeagnosticPidController {
 }

 impl ClampingTimeagnosticPidController {
-    pub fn new(
+    pub const fn new(
        kp: f64,
        ki: f64,
        kd: f64,
@@ -65,7 +65,7 @@ impl ClampingTimeagnosticPidController {
        }
    }

-    pub fn simple_new(kp: f64, ki: f64, kd: f64) -> Self {
+    pub const fn simple_new(kp: f64, ki: f64, kd: f64) -> Self {
        Self {
            kp,
            ki,
@@ -85,26 +85,26 @@ impl ClampingTimeagnosticPidController {
        }
    }

-    pub fn get_kp(&self) -> f64 {
+    pub const fn get_kp(&self) -> f64 {
        self.kp
    }

-    pub fn get_ki(&self) -> f64 {
+    pub const fn get_ki(&self) -> f64 {
        self.ki
    }

-    pub fn get_kd(&self) -> f64 {
+    pub const fn get_kd(&self) -> f64 {
        self.kd
    }

-    pub fn configure(&mut self, ki: f64, kp: f64, kd: f64) {
+    pub const fn configure(&mut self, ki: f64, kp: f64, kd: f64) {
        self.reset();
        self.kp = kp;
        self.ki = ki;
        self.kd = kd;
    }

-    pub fn optional_clamp(value: f64, min: Option<f64>, max: Option<f64>) -> f64 {
+    pub const fn optional_clamp(value: f64, min: Option<f64>, max: Option<f64>) -> f64 {
        match (min, max) {
            (Some(min), Some(max)) => value.clamp(min, max),
            (Some(min), None) => value.max(min),
@@ -114,7 +114,7 @@ impl ClampingTimeagnosticPidController {
    }

    pub fn update(&mut self, error: f64, t: Instant) -> f64 {
-        let signal = match self.last {
+        match self.last {
            // First update
            None => {
                // Calculate error
@@ -122,15 +122,10 @@ impl ClampingTimeagnosticPidController {

                // Calculate signal
                let signal = self.kp * ep;
-                let clamped_signal = ClampingTimeagnosticPidController::optional_clamp(
-                    signal,
-                    self.min_signal,
-                    self.max_signal,
-                );
+                let clamped_signal = Self::optional_clamp(signal, self.min_signal, self.max_signal);

                // Set values
-                self.ep =
-                    ClampingTimeagnosticPidController::optional_clamp(ep, self.min_ep, self.max_ep);
+                self.ep = Self::optional_clamp(ep, self.min_ep, self.max_ep);
                self.ei = 0.0;
                self.ed = 0.0;
                self.last = Some(t);
@@ -143,23 +138,11 @@ impl ClampingTimeagnosticPidController {
                let dt = t.duration_since(last).as_secs_f64();

                // Calculate errors
-                let ep = ClampingTimeagnosticPidController::optional_clamp(
-                    error,
-                    self.min_ep,
-                    self.max_ep,
-                );
+                let ep = Self::optional_clamp(error, self.min_ep, self.max_ep);

-                let ei = ClampingTimeagnosticPidController::optional_clamp(
-                    self.ei + ep * dt,
-                    self.min_ei,
-                    self.max_ei,
-                );
+                let ei = Self::optional_clamp(ep.mul_add(dt, self.ei), self.min_ei, self.max_ei);

-                let ed = ClampingTimeagnosticPidController::optional_clamp(
-                    (ep - self.ep) / dt,
-                    self.min_ed,
-                    self.max_ed,
-                );
+                let ed = Self::optional_clamp((ep - self.ep) / dt, self.min_ed, self.max_ed);

                // Make factors timeagnostic
                let kp = self.kp * dt;
@@ -167,12 +150,8 @@ impl ClampingTimeagnosticPidController {
                let kd = self.kd * dt;

                // Calculate signal
-                let signal = kp * ep + ki * ei + kd * ed;
-                let clamped_signal = ClampingTimeagnosticPidController::optional_clamp(
-                    signal,
-                    self.min_signal,
-                    self.max_signal,
-                );
+                let signal = kd.mul_add(ed, kp.mul_add(ep, ki * ei));
+                let clamped_signal = Self::optional_clamp(signal, self.min_signal, self.max_signal);

                // Set values
                self.ep = ep;
@@ -182,12 +161,10 @@ impl ClampingTimeagnosticPidController {

                clamped_signal
            }
-        };
-
-        signal
+        }
    }

-    pub fn reset(&mut self) {
+    pub const fn reset(&mut self) {
        self.ep = 0.0;
        self.ei = 0.0;
        self.ed = 0.0;
@@ -22,7 +22,7 @@ pub struct AccelerationSpeedController {
 }

 impl AccelerationSpeedController {
-    pub fn new(
+    pub const fn new(
        min_speed: Option<f64>,
        max_speed: Option<f64>,
        min_acceleration: f64,
@@ -44,10 +44,10 @@ impl AccelerationSpeedController {
    /// No speed limits are applied.
    pub fn new_simple(max_acceleration: f64, initial_speed: f64) -> Self {
        Self::new(
-            None,                    // min_speed
-            None,                    // max_speed
-            -max_acceleration,       // min_acceleration (deceleration)
-            max_acceleration,        // max_acceleration
+            None,              // min_speed
+            None,              // max_speed
+            -max_acceleration, // min_acceleration (deceleration)
+            max_acceleration,  // max_acceleration
            initial_speed,
        )
    }
@@ -98,16 +98,16 @@ impl AccelerationSpeedController {
        new_speed
    }

-    pub fn reset(&mut self, initial_speed: f64) {
+    pub const fn reset(&mut self, initial_speed: f64) {
        self.last_speed = initial_speed;
        self.last_t = None; // Reset the last update time
    }

-    pub fn set_max_acceleration(&mut self, acceleration: f64) {
+    pub const fn set_max_acceleration(&mut self, acceleration: f64) {
        self.max_acceleration = acceleration;
    }

-    fn apply_speed_limits(&self, speed: f64) -> f64 {
+    const fn apply_speed_limits(&self, speed: f64) -> f64 {
        let mut limited_speed = speed;

        if let Some(min) = self.min_speed {
@@ -121,23 +121,23 @@ impl AccelerationSpeedController {
        limited_speed
    }

-    pub fn get_min_speed(&self) -> Option<f64> {
+    pub const fn get_min_speed(&self) -> Option<f64> {
        self.min_speed
    }

-    pub fn get_max_speed(&self) -> Option<f64> {
+    pub const fn get_max_speed(&self) -> Option<f64> {
        self.max_speed
    }

-    pub fn set_min_speed(&mut self, min_speed: Option<f64>) {
+    pub const fn set_min_speed(&mut self, min_speed: Option<f64>) {
        self.min_speed = min_speed;
    }

-    pub fn set_max_speed(&mut self, max_speed: Option<f64>) {
+    pub const fn set_max_speed(&mut self, max_speed: Option<f64>) {
        self.max_speed = max_speed;
    }

-    pub fn set_min_acceleration(&mut self, deceleration: f64) {
+    pub const fn set_min_acceleration(&mut self, deceleration: f64) {
        self.min_acceleration = deceleration;
    }
 }
@@ -37,12 +37,15 @@ impl AngularAccelerationSpeedController {
    /// Creates a new angular acceleration speed controller with simplified parameters.
    /// Sets min_acceleration to -max_acceleration for symmetric behavior.
    /// No speed limits are applied.
-    pub fn new_simple(max_acceleration: AngularAcceleration, initial_speed: AngularVelocity) -> Self {
+    pub fn new_simple(
+        max_acceleration: AngularAcceleration,
+        initial_speed: AngularVelocity,
+    ) -> Self {
        Self::new(
-            None,                    // min_speed
-            None,                    // max_speed
-            -max_acceleration,       // min_acceleration (deceleration)
-            max_acceleration,        // max_acceleration
+            None,              // min_speed
+            None,              // max_speed
+            -max_acceleration, // min_acceleration (deceleration)
+            max_acceleration,  // max_acceleration
            initial_speed,
        )
    }
@@ -50,7 +53,7 @@ impl AngularAccelerationSpeedController {
    pub fn update(&mut self, target_speed: AngularVelocity, t: Instant) -> AngularVelocity {
        let target_speed = target_speed.get::<radian_per_second>();
        let new_speed = self.controller.update(target_speed, t);
-        return AngularVelocity::new::<radian_per_second>(new_speed);
+        AngularVelocity::new::<radian_per_second>(new_speed)
    }

    pub fn reset(&mut self, initial_speed: AngularVelocity) {
@@ -70,13 +73,13 @@ impl AngularAccelerationSpeedController {
    pub fn get_min_speed(&self) -> Option<AngularVelocity> {
        self.controller
            .get_min_speed()
-            .map(|s| AngularVelocity::new::<radian_per_second>(s))
+            .map(AngularVelocity::new::<radian_per_second>)
    }

    pub fn get_max_speed(&self) -> Option<AngularVelocity> {
        self.controller
            .get_max_speed()
-            .map(|s| AngularVelocity::new::<radian_per_second>(s))
+            .map(AngularVelocity::new::<radian_per_second>)
    }

    pub fn set_min_speed(&mut self, min_speed: Option<AngularVelocity>) {
@@ -38,17 +38,17 @@ impl LinearAccelerationLimitingController {
    /// No speed limits are applied.
    pub fn new_simple(acceleration: Acceleration, initial_speed: Velocity) -> Self {
        Self::new(
-            None,           // min_speed
-            None,           // max_speed
-            acceleration,   // acceleration
-            -acceleration,  // deceleration (negative for deceleration)
+            None,          // min_speed
+            None,          // max_speed
+            acceleration,  // acceleration
+            -acceleration, // deceleration (negative for deceleration)
            initial_speed,
        )
    }
    pub fn update(&mut self, target_speed: Velocity, t: Instant) -> Velocity {
        let target_speed = target_speed.get::<meter_per_second>();
        let new_speed = self.controller.update(target_speed, t);
-        return Velocity::new::<meter_per_second>(new_speed);
+        Velocity::new::<meter_per_second>(new_speed)
    }
    pub fn reset(&mut self, initial_speed: Velocity) {
        let initial_speed = initial_speed.get::<meter_per_second>();
@@ -65,12 +65,12 @@ impl LinearAccelerationLimitingController {
    pub fn get_min_speed(&self) -> Option<Velocity> {
        self.controller
            .get_min_speed()
-            .map(|s| Velocity::new::<meter_per_second>(s))
+            .map(Velocity::new::<meter_per_second>)
    }
    pub fn get_max_speed(&self) -> Option<Velocity> {
        self.controller
            .get_max_speed()
-            .map(|s| Velocity::new::<meter_per_second>(s))
+            .map(Velocity::new::<meter_per_second>)
    }
    pub fn set_min_speed(&mut self, min_speed: Option<Velocity>) {
        self.controller
@@ -21,7 +21,7 @@ pub struct PidController {
 }

 impl PidController {
-    pub fn new(kp: f64, ki: f64, kd: f64) -> Self {
+    pub const fn new(kp: f64, ki: f64, kd: f64) -> Self {
        Self {
            kp,
            ki,
@@ -33,27 +33,27 @@ impl PidController {
        }
    }

-    pub fn configure(&mut self, ki: f64, kp: f64, kd: f64) {
+    pub const fn configure(&mut self, ki: f64, kp: f64, kd: f64) {
        self.reset();
        self.kp = kp;
        self.ki = ki;
        self.kd = kd;
    }

-    pub fn get_kp(&self) -> f64 {
+    pub const fn get_kp(&self) -> f64 {
        self.kp
    }

-    pub fn get_ki(&self) -> f64 {
+    pub const fn get_ki(&self) -> f64 {
        self.ki
    }

-    pub fn get_kd(&self) -> f64 {
+    pub const fn get_kd(&self) -> f64 {
        self.kd
    }

    pub fn update(&mut self, error: f64, t: Instant) -> f64 {
-        let signal = match self.last {
+        match self.last {
            // First update
            None => {
                // Calculate error
@@ -78,11 +78,11 @@ impl PidController {

                // Calculate errors
                let ep = error;
-                let ei = self.ei + ep * dt;
+                let ei = ep.mul_add(dt, self.ei);
                let ed = (ep - self.ep) / dt;

                // Calculate signal
-                let signal = self.kp * ep + self.ki * ei + self.kd * ed;
+                let signal = self.kd.mul_add(ed, self.kp.mul_add(ep, self.ki * ei));

                // Set values
                self.ep = ep;
@@ -92,12 +92,10 @@ impl PidController {

                signal
            }
-        };
-
-        signal
+        }
    }

-    pub fn reset(&mut self) {
+    pub const fn reset(&mut self) {
        self.ep = 0.0;
        self.ei = 0.0;
        self.ed = 0.0;
@@ -3,7 +3,7 @@ use std::fmt;
 // Remove the anyhow::Ok import as it conflicts with std::result::Ok

 /// Errors that can occur when creating or using the motion controller
-#[derive(Debug, Clone, PartialEq)]
+#[derive(Debug, Clone, PartialEq, Eq)]
 pub enum MotionControllerError {
    InvalidSpeedLimits,
    InvalidAccelerationLimits,
@@ -14,25 +14,25 @@ pub enum MotionControllerError {
 impl fmt::Display for MotionControllerError {
    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
        match self {
-            MotionControllerError::InvalidSpeedLimits => {
+            Self::InvalidSpeedLimits => {
                write!(
                    f,
                    "Invalid speed limits: min_speed must be ≤ 0 and max_speed must be ≥ 0"
                )
            }
-            MotionControllerError::InvalidAccelerationLimits => {
+            Self::InvalidAccelerationLimits => {
                write!(
                    f,
                    "Invalid acceleration limits: min_acceleration must be < 0 and max_acceleration must be > 0"
                )
            }
-            MotionControllerError::InvalidPositionLimits => {
+            Self::InvalidPositionLimits => {
                write!(
                    f,
                    "Invalid position limits: min_position must be ≤ max_position"
                )
            }
-            MotionControllerError::ZeroDeceleration => {
+            Self::ZeroDeceleration => {
                write!(
                    f,
                    "Zero deceleration rate: cannot plan motion without deceleration capability"
@@ -148,7 +148,7 @@ struct MotionConstants {
 }

 /// Represents the current phase of motion
-#[derive(Debug, Clone, Copy, PartialEq)]
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub enum MotionPhase {
    Idle,
    IncreasingSpeed,
@@ -170,7 +170,7 @@ pub struct ControllerBuilder {

 impl ControllerBuilder {
    /// Create a new builder
-    pub fn new() -> Self {
+    pub const fn new() -> Self {
        Self {
            min_speed: None,
            max_speed: None,
@@ -184,28 +184,36 @@ impl ControllerBuilder {
    }

    /// Set speed limits (min_speed ≤ 0, max_speed ≥ 0)
-    pub fn speed_limits(mut self, min_speed: f64, max_speed: f64) -> Self {
+    pub const fn speed_limits(mut self, min_speed: f64, max_speed: f64) -> Self {
        self.min_speed = Some(min_speed);
        self.max_speed = Some(max_speed);
        self
    }

    /// Set acceleration limits (min_acceleration < 0, max_acceleration > 0)
-    pub fn acceleration_limits(mut self, min_acceleration: f64, max_acceleration: f64) -> Self {
+    pub const fn acceleration_limits(
+        mut self,
+        min_acceleration: f64,
+        max_acceleration: f64,
+    ) -> Self {
        self.min_acceleration = Some(min_acceleration);
        self.max_acceleration = Some(max_acceleration);
        self
    }

    /// Set position limits (optional)
-    pub fn position_limits(mut self, min_position: Option<f64>, max_position: Option<f64>) -> Self {
+    pub const fn position_limits(
+        mut self,
+        min_position: Option<f64>,
+        max_position: Option<f64>,
+    ) -> Self {
        self.min_position = min_position;
        self.max_position = max_position;
        self
    }

    /// Set tolerances for position and speed comparisons
-    pub fn tolerances(mut self, position_tolerance: f64, speed_tolerance: f64) -> Self {
+    pub const fn tolerances(mut self, position_tolerance: f64, speed_tolerance: f64) -> Self {
        self.position_tolerance = position_tolerance;
        self.speed_tolerance = speed_tolerance;
        self
@@ -322,7 +330,7 @@ impl AccelerationPositionController {

        let motion_constants = Self::calculate_motion_constants(&config);

-        Ok(AccelerationPositionController {
+        Ok(Self {
            config,
            current_position: 0.0,
            current_speed: 0.0,
@@ -366,19 +374,19 @@ impl AccelerationPositionController {
        }

        Self::new(
-            -speed,               // min_speed
-            speed,                // max_speed
-            -acceleration,        // min_acceleration
-            acceleration,         // max_acceleration
-            position.map(|p| -p), // min_position
-            position.map(|p| p),  // max_position
-            1e-6,                 // position_tolerance (default)
-            1e-6,                 // speed_tolerance (default)
+            -speed,                     // min_speed
+            speed,                      // max_speed
+            -acceleration,              // min_acceleration
+            acceleration,               // max_acceleration
+            position.map(|p| -p.abs()), // min_position
+            position.map(|p| p.abs()),  // max_position
+            1e-6,                       // position_tolerance (default)
+            1e-6,                       // speed_tolerance (default)
        )
    }

    /// Create a new builder for the controller
-    pub fn builder() -> ControllerBuilder {
+    pub const fn builder() -> ControllerBuilder {
        ControllerBuilder::new()
    }

@@ -564,8 +572,10 @@ impl AccelerationPositionController {

        // Calculate distance needed to reach cruise speed from current speed
        let speed_change_distance = if current_speed_in_direction < cruise_speed.abs() {
-            (cruise_speed.abs().powi(2) - current_speed_in_direction.max(0.0).powi(2))
-                / (2.0 * acceleration_rate)
+            current_speed_in_direction.max(0.0).mul_add(
+                -current_speed_in_direction.max(0.0),
+                cruise_speed.abs().powi(2),
+            ) / (2.0 * acceleration_rate)
        } else {
            0.0
        };
@@ -579,8 +589,10 @@ impl AccelerationPositionController {
            // Using corrected kinematic equation: v_peak² = v_current² + 2*a*d_total*a_accel*a_decel/(a_accel + a_decel)
            let accel_decel_factor =
                (acceleration_rate * deceleration_rate) / (acceleration_rate + deceleration_rate);
-            let discriminant = current_speed_in_direction.max(0.0).powi(2)
-                + 2.0 * abs_position_change * accel_decel_factor;
+            let discriminant = current_speed_in_direction.max(0.0).mul_add(
+                current_speed_in_direction.max(0.0),
+                2.0 * abs_position_change * accel_decel_factor,
+            );

            if discriminant >= 0.0 {
                self.peak_speed = discriminant.sqrt() * cruise_speed.signum();
@@ -634,7 +646,7 @@ impl AccelerationPositionController {
                self.current_acceleration = self.config.max_acceleration * self.direction as f64;

                // Update speed
-                let new_speed = self.current_speed + self.current_acceleration * dt;
+                let new_speed = self.current_acceleration.mul_add(dt, self.current_speed);

                // Check if we've reached peak speed
                if (self.direction > 0 && new_speed >= self.peak_speed)
@@ -665,7 +677,7 @@ impl AccelerationPositionController {
                self.current_acceleration = self.config.min_acceleration * self.direction as f64;

                // Update speed
-                let new_speed = self.current_speed + self.current_acceleration * dt;
+                let new_speed = self.current_acceleration.mul_add(dt, self.current_speed);

                // Check if we've reached zero speed or target
                if (self.current_speed > 0.0 && new_speed <= 0.0)
@@ -689,7 +701,7 @@ impl AccelerationPositionController {
        }

        // Update position based on current speed
-        let new_position = self.current_position + self.current_speed * dt;
+        let new_position = self.current_speed.mul_add(dt, self.current_position);

        // Check position limits and handle violations
        let mut position_limited = false;
@@ -742,7 +754,7 @@ impl AccelerationPositionController {
    ///
    /// Returns the current position of the controlled object.
    /// This value is updated with each call to `update()`.
-    pub fn get_position(&self) -> f64 {
+    pub const fn get_position(&self) -> f64 {
        self.current_position
    }

@@ -751,7 +763,7 @@ impl AccelerationPositionController {
    /// Returns the current speed (velocity) of the controlled object.
    /// Positive values indicate motion towards increasing position,
    /// negative values indicate motion towards decreasing position.
-    pub fn get_speed(&self) -> f64 {
+    pub const fn get_speed(&self) -> f64 {
        self.current_speed
    }

@@ -759,32 +771,32 @@ impl AccelerationPositionController {
    ///
    /// Returns the current acceleration of the controlled object.
    /// Positive values indicate increasing speed, negative values indicate decreasing speed.
-    pub fn get_acceleration(&self) -> f64 {
+    pub const fn get_acceleration(&self) -> f64 {
        self.current_acceleration
    }

    /// Get the target position
-    pub fn get_target_position(&self) -> f64 {
+    pub const fn get_target_position(&self) -> f64 {
        self.target_position
    }

    /// Get the current motion phase
-    pub fn get_motion_phase(&self) -> MotionPhase {
+    pub const fn get_motion_phase(&self) -> MotionPhase {
        self.motion_phase
    }

    /// Get the direction of motion
-    pub fn get_direction(&self) -> i8 {
+    pub const fn get_direction(&self) -> i8 {
        self.direction
    }

    /// Get the calculated peak speed for current motion
-    pub fn get_peak_speed(&self) -> f64 {
+    pub const fn get_peak_speed(&self) -> f64 {
        self.peak_speed
    }

    /// Get the position at which deceleration will begin
-    pub fn get_deceleration_position(&self) -> f64 {
+    pub const fn get_deceleration_position(&self) -> f64 {
        self.deceleration_position
    }

@@ -837,7 +849,7 @@ impl AccelerationPositionController {
    }

    /// Force the controller to stop at current position
-    pub fn emergency_stop(&mut self) {
+    pub const fn emergency_stop(&mut self) {
        self.target_position = self.current_position;
        self.current_speed = 0.0;
        self.current_acceleration = 0.0;
@@ -1006,32 +1018,32 @@ impl AccelerationPositionController {
    }

    /// Get the minimum speed limit
-    pub fn get_min_speed(&self) -> f64 {
+    pub const fn get_min_speed(&self) -> f64 {
        self.config.min_speed
    }

    /// Get the maximum speed limit
-    pub fn get_max_speed(&self) -> f64 {
+    pub const fn get_max_speed(&self) -> f64 {
        self.config.max_speed
    }

    /// Get the minimum acceleration limit
-    pub fn get_min_acceleration(&self) -> f64 {
+    pub const fn get_min_acceleration(&self) -> f64 {
        self.config.min_acceleration
    }

    /// Get the maximum acceleration limit
-    pub fn get_max_acceleration(&self) -> f64 {
+    pub const fn get_max_acceleration(&self) -> f64 {
        self.config.max_acceleration
    }

    /// Get the minimum position limit
-    pub fn get_min_position(&self) -> Option<f64> {
+    pub const fn get_min_position(&self) -> Option<f64> {
        self.config.min_position
    }

    /// Get the maximum position limit
-    pub fn get_max_position(&self) -> Option<f64> {
+    pub const fn get_max_position(&self) -> Option<f64> {
        self.config.max_position
    }

@@ -1068,17 +1080,17 @@ impl AccelerationPositionController {
    }

    /// Get the position tolerance
-    pub fn get_position_tolerance(&self) -> f64 {
+    pub const fn get_position_tolerance(&self) -> f64 {
        self.config.position_tolerance
    }

    /// Get the speed tolerance
-    pub fn get_speed_tolerance(&self) -> f64 {
+    pub const fn get_speed_tolerance(&self) -> f64 {
        self.config.speed_tolerance
    }

    /// Set tolerances for position and speed comparisons
-    pub fn set_tolerances(&mut self, position_tolerance: f64, speed_tolerance: f64) {
+    pub const fn set_tolerances(&mut self, position_tolerance: f64, speed_tolerance: f64) {
        self.config.position_tolerance = position_tolerance;
        self.config.speed_tolerance = speed_tolerance;
    }
@@ -102,16 +102,12 @@ impl AngularAccelerationPositionController {

    /// Get the minimum angle position limit
    pub fn get_min_position(&self) -> Option<Angle> {
-        self.controller
-            .get_min_position()
-            .map(|angle| Angle::new::<radian>(angle))
+        self.controller.get_min_position().map(Angle::new::<radian>)
    }

    /// Get the maximum angle position limit
    pub fn get_max_position(&self) -> Option<Angle> {
-        self.controller
-            .get_max_position()
-            .map(|angle| Angle::new::<radian>(angle))
+        self.controller.get_max_position().map(Angle::new::<radian>)
    }

    /// Set the minimum angle position limit
@@ -236,7 +236,7 @@ impl AngularJerkSpeedController {
    pub fn get_min_speed(&self) -> Option<AngularVelocity> {
        self.controller
            .get_min_speed()
-            .map(|speed| AngularVelocity::new::<radian_per_second>(speed))
+            .map(AngularVelocity::new::<radian_per_second>)
    }

    /// Get the maximum angular velocity limit
@@ -248,7 +248,7 @@ impl AngularJerkSpeedController {
    pub fn get_max_speed(&self) -> Option<AngularVelocity> {
        self.controller
            .get_max_speed()
-            .map(|speed| AngularVelocity::new::<radian_per_second>(speed))
+            .map(AngularVelocity::new::<radian_per_second>)
    }

    /// Set the minimum angular velocity limit
@@ -88,7 +88,7 @@ impl JerkSpeedController {
        )
        .expect("Failed to create AccelerationPositionController");

-        JerkSpeedController { base_controller }
+        Self { base_controller }
    }

    /// Create a new speed controller with simple symmetric limits
@@ -183,7 +183,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Current speed as a floating-point value
-    pub fn get_speed(&self) -> f64 {
+    pub const fn get_speed(&self) -> f64 {
        self.base_controller.get_position()
    }

@@ -193,7 +193,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Current acceleration as a floating-point value
-    pub fn get_acceleration(&self) -> f64 {
+    pub const fn get_acceleration(&self) -> f64 {
        self.base_controller.get_speed()
    }

@@ -203,7 +203,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Current jerk as a floating-point value
-    pub fn get_jerk(&self) -> f64 {
+    pub const fn get_jerk(&self) -> f64 {
        self.base_controller.get_acceleration()
    }

@@ -213,7 +213,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Target speed as a floating-point value
-    pub fn get_target_speed(&self) -> f64 {
+    pub const fn get_target_speed(&self) -> f64 {
        self.base_controller.get_target_position()
    }

@@ -223,7 +223,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Minimum speed limit as an Option<f64>, None if no limit is set
-    pub fn get_min_speed(&self) -> Option<f64> {
+    pub const fn get_min_speed(&self) -> Option<f64> {
        self.base_controller.get_min_position()
    }

@@ -233,7 +233,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Maximum speed limit as an Option<f64>, None if no limit is set
-    pub fn get_max_speed(&self) -> Option<f64> {
+    pub const fn get_max_speed(&self) -> Option<f64> {
        self.base_controller.get_max_position()
    }

@@ -205,9 +205,7 @@ impl LinearAccelerationPositionController {
    /// # Returns
    /// Minimum position limit as an Option<Length>, None if no limit is set
    pub fn get_min_position(&self) -> Option<Length> {
-        self.controller
-            .get_min_position()
-            .map(|length| Length::new::<meter>(length))
+        self.controller.get_min_position().map(Length::new::<meter>)
    }

    /// Get the maximum position limit
@@ -217,9 +215,7 @@ impl LinearAccelerationPositionController {
    /// # Returns  
    /// Maximum position limit as an Option<Length>, None if no limit is set
    pub fn get_max_position(&self) -> Option<Length> {
-        self.controller
-            .get_max_position()
-            .map(|length| Length::new::<meter>(length))
+        self.controller.get_max_position().map(Length::new::<meter>)
    }

    /// Set the minimum position limit
@@ -195,14 +195,14 @@ impl LinearJerkSpeedController {
    pub fn get_min_speed(&self) -> Option<Velocity> {
        self.controller
            .get_min_speed()
-            .map(|speed| Velocity::new::<meter_per_second>(speed))
+            .map(Velocity::new::<meter_per_second>)
    }

    /// Get the maximum velocity limit
    pub fn get_max_speed(&self) -> Option<Velocity> {
        self.controller
            .get_max_speed()
-            .map(|speed| Velocity::new::<meter_per_second>(speed))
+            .map(Velocity::new::<meter_per_second>)
    }

    /// Set the minimum velocity limit
@@ -1,8 +1,6 @@
-use std::f32::consts::PI;
+use uom::si::{angle::radian, f64::Angle};

-use uom::si::angle::radian;
-
-#[derive(Debug, Clone, Copy, PartialEq)]
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub struct AngleConverter {
    pub flip_x: bool, // true to flip X-axis (mirror horizontally)
    pub flip_y: bool, // true to flip Y-axis (mirror vertically)
@@ -11,7 +9,7 @@ pub struct AngleConverter {

 impl AngleConverter {
    /// Create a custom coordinate system
-    pub fn new(flip_x: bool, flip_y: bool, is_cw: bool) -> Self {
+    pub const fn new(flip_x: bool, flip_y: bool, is_cw: bool) -> Self {
        Self {
            flip_x,
            flip_y,
@@ -20,52 +18,52 @@ impl AngleConverter {
    }

    /// Standard mathematical coordinate system (CCW positive, 0° at positive X)
-    pub fn mathematical() -> Self {
+    pub const fn mathematical() -> Self {
        Self::new(false, false, false)
    }

    /// Screen/graphics coordinate system (CW positive, 0° at positive X, Y-flipped)
-    pub fn screen() -> Self {
+    pub const fn screen() -> Self {
        Self::new(false, true, false)
    }

    /// System where 0° points up, clockwise positive
-    pub fn y_up_cw() -> Self {
+    pub const fn y_up_cw() -> Self {
        Self::new(false, false, true)
    }

    /// System where 0° points down, counter-clockwise positive
-    pub fn y_down_ccw() -> Self {
+    pub const fn y_down_ccw() -> Self {
        Self::new(false, true, true)
    }

    /// System where 0° points left, clockwise positive
-    pub fn x_left_cw() -> Self {
+    pub const fn x_left_cw() -> Self {
        Self::new(true, false, false)
    }

    /// System where 0° points right, counter-clockwise positive (same as mathematical)
-    pub fn x_right_ccw() -> Self {
+    pub const fn x_right_ccw() -> Self {
        Self::mathematical()
    }

    /// System where 0° points up, counter-clockwise positive
-    pub fn y_up_ccw() -> Self {
+    pub const fn y_up_ccw() -> Self {
        Self::new(false, false, false)
    }

    /// System where 0° points down, clockwise positive
-    pub fn y_down_cw() -> Self {
+    pub const fn y_down_cw() -> Self {
        Self::new(false, true, false)
    }

    /// System where 0° points left, counter-clockwise positive
-    pub fn x_left_ccw() -> Self {
+    pub const fn x_left_ccw() -> Self {
        Self::new(true, false, true)
    }

    /// Convert angle from mathematical system to this system (f32)
-    pub fn degrees_encode(&self, math_angle_degrees: f32) -> f32 {
+    pub fn degrees_encode(&self, math_angle_degrees: f64) -> f64 {
        let normalized_input = self.normalize_angle(math_angle_degrees);

        let mut result = normalized_input;
@@ -75,7 +73,7 @@ impl AngleConverter {
            (false, false) => {}                      // No change
            (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
            (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result = 180.0 + result,  // Both flips: 180° rotation
+            (true, true) => result += 180.0,          // Both flips: 180° rotation
        }

        // Handle rotation direction
@@ -87,7 +85,7 @@ impl AngleConverter {
    }

    /// Convert angle from this system to mathematical system (f32)
-    pub fn degrees_decode(&self, system_angle_degrees: f32) -> f32 {
+    pub fn degrees_decode(&self, system_angle_degrees: f64) -> f64 {
        let normalized_input = self.normalize_angle(system_angle_degrees);

        let mut result = normalized_input;
@@ -102,24 +100,24 @@ impl AngleConverter {
            (false, false) => {}                      // No change
            (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
            (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result = result - 180.0,  // Both flips: inverse 180° rotation
+            (true, true) => result -= 180.0,          // Both flips: inverse 180° rotation
        }

        self.normalize_angle(result)
    }

    /// Convert angle in radians from mathematical system to this system (f32)
-    pub fn radians_encode(&self, math_angle_radians: f32) -> f32 {
-        let degrees = math_angle_radians * 180.0 / PI;
+    pub fn radians_encode(&self, math_angle_radians: f64) -> f64 {
+        let degrees = math_angle_radians.to_degrees();
        let converted_degrees = self.degrees_encode(degrees);
-        converted_degrees * PI / 180.0
+        converted_degrees.to_radians()
    }

    /// Convert angle in radians from this system to mathematical system (f32)
-    pub fn radians_decode(&self, system_angle_radians: f32) -> f32 {
-        let degrees = system_angle_radians * 180.0 / PI;
+    pub fn radians_decode(&self, system_angle_radians: f64) -> f64 {
+        let degrees = system_angle_radians.to_degrees();
        let converted_degrees = self.degrees_decode(degrees);
-        converted_degrees * PI / 180.0
+        converted_degrees.to_radians()
    }

    /// Convert angle from mathematical system to this system (f64)
@@ -133,7 +131,7 @@ impl AngleConverter {
            (false, false) => {}                      // No change
            (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
            (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result = 180.0 + result,  // Both flips: 180° rotation
+            (true, true) => result += 180.0,          // Both flips: 180° rotation
        }

        // Handle rotation direction
@@ -160,7 +158,7 @@ impl AngleConverter {
            (false, false) => {}                      // No change
            (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
            (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result = result - 180.0,  // Both flips: inverse 180° rotation
+            (true, true) => result -= 180.0,          // Both flips: inverse 180° rotation
        }

        self.normalize_angle_f64(result)
@@ -168,20 +166,20 @@ impl AngleConverter {

    /// Convert angle in radians from mathematical system to this system (f64)
    pub fn radians_encode_f64(&self, math_angle_radians: f64) -> f64 {
-        let degrees = math_angle_radians * 180.0 / std::f64::consts::PI;
+        let degrees = math_angle_radians.to_degrees();
        let converted_degrees = self.degrees_encode_f64(degrees);
-        converted_degrees * std::f64::consts::PI / 180.0
+        converted_degrees.to_radians()
    }

    /// Convert angle in radians from this system to mathematical system (f64)
    pub fn radians_decode_f64(&self, system_angle_radians: f64) -> f64 {
-        let degrees = system_angle_radians * 180.0 / std::f64::consts::PI;
+        let degrees = system_angle_radians.to_degrees();
        let converted_degrees = self.degrees_decode_f64(degrees);
-        converted_degrees * std::f64::consts::PI / 180.0
+        converted_degrees.to_radians()
    }

    /// Normalize angle to [0, 360) range (f32)
-    fn normalize_angle(&self, angle: f32) -> f32 {
+    fn normalize_angle(&self, angle: f64) -> f64 {
        let mut normalized = angle % 360.0;
        if normalized < 0.0 {
            normalized += 360.0;
@@ -205,39 +203,23 @@ pub struct AngleConverterUom {
 }

 impl AngleConverterUom {
-    pub fn new(angle_converter: AngleConverter) -> Self {
+    pub const fn new(angle_converter: AngleConverter) -> Self {
        Self { angle_converter }
    }

-    pub fn encode(&self, angle: uom::si::f32::Angle) -> uom::si::f32::Angle {
-        uom::si::f32::Angle::new::<radian>(
-            self.angle_converter.radians_encode(angle.get::<radian>()),
-        )
+    pub fn encode(&self, angle: Angle) -> Angle {
+        Angle::new::<radian>(self.angle_converter.radians_encode(angle.get::<radian>()))
    }

-    pub fn decode(&self, angle: uom::si::f32::Angle) -> uom::si::f32::Angle {
-        uom::si::f32::Angle::new::<radian>(
-            self.angle_converter.radians_decode(angle.get::<radian>()),
-        )
-    }
-
-    pub fn encode_f64(&self, angle: uom::si::f64::Angle) -> uom::si::f64::Angle {
-        uom::si::f64::Angle::new::<radian>(
-            self.angle_converter
-                .radians_encode_f64(angle.get::<radian>()),
-        )
-    }
-
-    pub fn decode_f64(&self, angle: uom::si::f64::Angle) -> uom::si::f64::Angle {
-        uom::si::f64::Angle::new::<radian>(
-            self.angle_converter
-                .radians_decode_f64(angle.get::<radian>()),
-        )
+    pub fn decode(&self, angle: Angle) -> Angle {
+        Angle::new::<radian>(self.angle_converter.radians_decode(angle.get::<radian>()))
    }
 }

 #[cfg(test)]
 mod tests {
+    use std::f32::consts::PI;
+
    use super::*;

    #[test]
@@ -297,8 +279,8 @@ mod tests {
        let converter = AngleConverter::screen();

        // Test radians_encode
-        let result = converter.radians_encode(PI / 2.0); // 90° in radians
-        let expected = 270.0 * PI / 180.0; // 270° in radians
+        let result = converter.radians_encode(PI as f64 / 2.0) as f64; // 90° in radians
+        let expected: f64 = 270.0f64 * PI as f64 / 180.0f64; // 270° in radians
        assert!((result - expected).abs() < 1e-6);
    }

@@ -306,10 +288,10 @@ mod tests {
    fn test_roundtrip_conversion() {
        let converter = AngleConverter::new(true, false, true); // X-flip + CW

-        let original = 75.0_f32;
+        let original = 75.0_f64;
        let converted = converter.degrees_encode(original);
        let roundtrip = converter.degrees_decode(converted);

-        assert!((original - roundtrip).abs() < 1e-6);
+        assert!((original - roundtrip as f64).abs() < 1e-6);
    }
 }
@@ -18,7 +18,7 @@ pub struct AngularStepConverter {

 impl AngularStepConverter {
    /// Create a new converter with the specified steps per revolution
-    pub fn new(steps_per_revolution: i16) -> Self {
+    pub const fn new(steps_per_revolution: i16) -> Self {
        Self {
            steps_per_revolution,
        }
@@ -0,0 +1,279 @@
+//! # Circular Converter
+//!
+//! This module provides the `CircularConverter` which handles transformations between
+//! linear and angular measurements for circular motion systems.
+//!
+//! ## Usage
+//!
+//! The `CircularConverter` is designed to work alongside other converters:
+//! - Use `AngularStepConverter` for angular-to-step conversions
+//! - Use `LinearStepConverter` for complete linear-to-step conversions (uses `CircularConverter` internally)
+//! - Use `CircularConverter` directly when you need linear-to-angular conversions without steps
+//!
+//! ## Examples
+//!
+//! ```rust
+//! use control_core::converters::circular_converter::CircularConverter;
+//! use uom::si::{f64::{Length, Velocity}, length::meter, velocity::meter_per_second};
+//!
+//! let converter = CircularConverter::from_radius(Length::new::<meter>(0.1));
+//! let velocity = Velocity::new::<meter_per_second>(1.0);
+//! let angular_velocity = converter.linear_to_angular_velocity(velocity);
+//! ```
+
+use uom::si::{
+    acceleration::meter_per_second_squared,
+    angle::radian,
+    angular_acceleration::radian_per_second_squared,
+    angular_velocity::radian_per_second,
+    f64::{Acceleration, Angle, AngularAcceleration, AngularVelocity, Length, Velocity},
+    length::meter,
+    velocity::meter_per_second,
+};
+
+/// A converter that handles transformations between linear and angular measurements
+/// for circular motion. This includes conversions for position, velocity, acceleration,
+/// and higher-order derivatives based on a circle's geometric properties.
+#[derive(Debug, Clone)]
+pub struct CircularConverter {
+    radius: Length,
+    circumference: Length,
+    diameter: Length,
+}
+
+impl CircularConverter {
+    /// Create a new converter from radius
+    pub fn from_radius(radius: Length) -> Self {
+        let diameter = radius * 2.0;
+        let circumference =
+            Length::new::<meter>(2.0 * std::f64::consts::PI * radius.get::<meter>());
+        Self {
+            radius,
+            diameter,
+            circumference,
+        }
+    }
+
+    /// Create a new converter from diameter
+    pub fn from_diameter(diameter: Length) -> Self {
+        let radius = diameter / 2.0;
+        Self::from_radius(radius)
+    }
+
+    /// Create a new converter from circumference
+    pub fn from_circumference(circumference: Length) -> Self {
+        let radius =
+            Length::new::<meter>(circumference.get::<meter>() / (2.0 * std::f64::consts::PI));
+        Self::from_radius(radius)
+    }
+
+    /// Get the radius
+    pub fn radius(&self) -> Length {
+        self.radius
+    }
+
+    /// Get the diameter
+    pub fn diameter(&self) -> Length {
+        self.diameter
+    }
+
+    /// Get the circumference
+    pub fn circumference(&self) -> Length {
+        self.circumference
+    }
+
+    // Linear to Angular Position Conversions
+
+    /// Convert linear distance to angular position
+    /// Formula: angle = distance / radius
+    pub fn linear_to_angular_position(&self, distance: Length) -> Angle {
+        let angle_rad = distance.get::<meter>() / self.radius.get::<meter>();
+        Angle::new::<radian>(angle_rad)
+    }
+
+    /// Convert angular position to linear distance
+    /// Formula: distance = angle * radius
+    pub fn angular_to_linear_position(&self, angle: Angle) -> Length {
+        let distance = angle.get::<radian>() * self.radius.get::<meter>();
+        Length::new::<meter>(distance)
+    }
+
+    // Linear to Angular Velocity Conversions
+
+    /// Convert linear velocity to angular velocity
+    /// Formula: angular_velocity = linear_velocity / radius
+    pub fn linear_to_angular_velocity(&self, velocity: Velocity) -> AngularVelocity {
+        let angular_velocity_rad_per_s =
+            velocity.get::<meter_per_second>() / self.radius.get::<meter>();
+        AngularVelocity::new::<radian_per_second>(angular_velocity_rad_per_s)
+    }
+
+    /// Convert angular velocity to linear velocity
+    /// Formula: linear_velocity = angular_velocity * radius
+    pub fn angular_to_linear_velocity(&self, angular_velocity: AngularVelocity) -> Velocity {
+        let velocity = angular_velocity.get::<radian_per_second>() * self.radius.get::<meter>();
+        Velocity::new::<meter_per_second>(velocity)
+    }
+
+    // Linear to Angular Acceleration Conversions
+
+    /// Convert linear acceleration to angular acceleration
+    /// Formula: angular_acceleration = linear_acceleration / radius
+    pub fn linear_to_angular_acceleration(
+        &self,
+        acceleration: Acceleration,
+    ) -> AngularAcceleration {
+        let angular_acceleration_rad_per_s2 =
+            acceleration.get::<meter_per_second_squared>() / self.radius.get::<meter>();
+        AngularAcceleration::new::<radian_per_second_squared>(angular_acceleration_rad_per_s2)
+    }
+
+    /// Convert angular acceleration to linear acceleration
+    /// Formula: linear_acceleration = angular_acceleration * radius
+    pub fn angular_to_linear_acceleration(
+        &self,
+        angular_acceleration: AngularAcceleration,
+    ) -> Acceleration {
+        let acceleration =
+            angular_acceleration.get::<radian_per_second_squared>() * self.radius.get::<meter>();
+        Acceleration::new::<meter_per_second_squared>(acceleration)
+    }
+
+    // Jerk Conversions (using f64 for now since UOM may not have jerk units)
+
+    /// Convert linear jerk to angular jerk
+    /// Formula: angular_jerk = linear_jerk / radius
+    /// Units: rad/s³ = (m/s³) / m
+    pub fn linear_to_angular_jerk(&self, linear_jerk: f64) -> f64 {
+        linear_jerk / self.radius.get::<meter>()
+    }
+
+    /// Convert angular jerk to linear jerk
+    /// Formula: linear_jerk = angular_jerk * radius
+    /// Units: m/s³ = (rad/s³) * m
+    pub fn angular_to_linear_jerk(&self, angular_jerk: f64) -> f64 {
+        angular_jerk * self.radius.get::<meter>()
+    }
+
+    // Arc Length Calculations
+
+    /// Calculate arc length from angle
+    /// Formula: arc_length = angle * radius
+    pub fn angle_to_arc_length(&self, angle: Angle) -> Length {
+        self.angular_to_linear_position(angle)
+    }
+
+    /// Calculate angle from arc length
+    /// Formula: angle = arc_length / radius
+    pub fn arc_length_to_angle(&self, arc_length: Length) -> Angle {
+        self.linear_to_angular_position(arc_length)
+    }
+
+    // Circumference-based calculations
+
+    /// Convert linear distance to number of revolutions
+    /// Formula: revolutions = distance / circumference
+    pub fn linear_distance_to_revolutions(&self, distance: Length) -> f64 {
+        distance.get::<meter>() / self.circumference.get::<meter>()
+    }
+
+    /// Convert number of revolutions to linear distance
+    /// Formula: distance = revolutions * circumference
+    pub fn revolutions_to_linear_distance(&self, revolutions: f64) -> Length {
+        Length::new::<meter>(revolutions * self.circumference.get::<meter>())
+    }
+
+    /// Convert linear velocity to revolutions per second
+    /// Formula: rps = velocity / circumference
+    pub fn linear_velocity_to_rps(&self, velocity: Velocity) -> f64 {
+        velocity.get::<meter_per_second>() / self.circumference.get::<meter>()
+    }
+
+    /// Convert revolutions per second to linear velocity
+    /// Formula: velocity = rps * circumference
+    pub fn rps_to_linear_velocity(&self, rps: f64) -> Velocity {
+        Velocity::new::<meter_per_second>(rps * self.circumference.get::<meter>())
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use uom::si::length::centimeter;
+
+    #[test]
+    fn test_constructors() {
+        let radius = Length::new::<centimeter>(5.0);
+        let diameter = Length::new::<centimeter>(10.0);
+        let circumference = Length::new::<centimeter>(2.0 * std::f64::consts::PI * 5.0);
+
+        let converter1 = CircularConverter::from_radius(radius);
+        let converter2 = CircularConverter::from_diameter(diameter);
+        let converter3 = CircularConverter::from_circumference(circumference);
+
+        // All should have approximately the same values
+        assert!((converter1.radius().get::<centimeter>() - 5.0).abs() < 1e-10);
+        assert!((converter2.radius().get::<centimeter>() - 5.0).abs() < 1e-10);
+        assert!((converter3.radius().get::<centimeter>() - 5.0).abs() < 1e-10);
+
+        assert!((converter1.diameter().get::<centimeter>() - 10.0).abs() < 1e-10);
+        assert!((converter2.diameter().get::<centimeter>() - 10.0).abs() < 1e-10);
+        assert!((converter3.diameter().get::<centimeter>() - 10.0).abs() < 1e-10);
+    }
+
+    #[test]
+    fn test_position_conversions() {
+        let converter = CircularConverter::from_radius(Length::new::<meter>(1.0));
+
+        // Test linear to angular
+        let distance = Length::new::<meter>(std::f64::consts::PI);
+        let angle = converter.linear_to_angular_position(distance);
+        assert!((angle.get::<radian>() - std::f64::consts::PI).abs() < 1e-10);
+
+        // Test angular to linear
+        let angle = Angle::new::<radian>(std::f64::consts::PI / 2.0);
+        let distance = converter.angular_to_linear_position(angle);
+        assert!((distance.get::<meter>() - std::f64::consts::PI / 2.0).abs() < 1e-10);
+    }
+
+    #[test]
+    fn test_velocity_conversions() {
+        let converter = CircularConverter::from_radius(Length::new::<meter>(0.5));
+
+        // Test linear to angular
+        let velocity = Velocity::new::<meter_per_second>(1.0);
+        let angular_velocity = converter.linear_to_angular_velocity(velocity);
+        assert!((angular_velocity.get::<radian_per_second>() - 2.0).abs() < 1e-10);
+
+        // Test angular to linear
+        let angular_velocity = AngularVelocity::new::<radian_per_second>(4.0);
+        let velocity = converter.angular_to_linear_velocity(angular_velocity);
+        assert!((velocity.get::<meter_per_second>() - 2.0).abs() < 1e-10);
+    }
+
+    #[test]
+    fn test_revolution_conversions() {
+        let converter = CircularConverter::from_radius(Length::new::<meter>(1.0));
+
+        // One full revolution should equal circumference
+        let revolutions = 1.0;
+        let distance = converter.revolutions_to_linear_distance(revolutions);
+        assert!((distance.get::<meter>() - converter.circumference().get::<meter>()).abs() < 1e-10);
+
+        // Converting back should give 1 revolution
+        let calculated_revolutions = converter.linear_distance_to_revolutions(distance);
+        assert!((calculated_revolutions - 1.0).abs() < 1e-10);
+    }
+
+    #[test]
+    fn test_jerk_conversions() {
+        let converter = CircularConverter::from_radius(Length::new::<meter>(2.0));
+
+        let linear_jerk = 4.0; // m/s³
+        let angular_jerk = converter.linear_to_angular_jerk(linear_jerk);
+        assert!((angular_jerk - 2.0).abs() < 1e-10); // 4.0 / 2.0 = 2.0 rad/s³
+
+        let calculated_linear_jerk = converter.angular_to_linear_jerk(angular_jerk);
+        assert!((calculated_linear_jerk - linear_jerk).abs() < 1e-10);
+    }
+}
@@ -1,14 +1,11 @@
 use uom::si::{
-    acceleration::meter_per_second_squared,
    angle::revolution,
-    angular_acceleration::radian_per_second_squared,
    angular_velocity::revolution_per_second,
    f64::{Acceleration, Angle, AngularAcceleration, AngularVelocity, Length, Velocity},
-    length::meter,
-    velocity::meter_per_second,
 };

 use super::angular_step_converter::AngularStepConverter;
+use super::circular_converter::CircularConverter;

 /// Converts between linear measurements and motor steps
 ///
@@ -18,57 +15,52 @@ use super::angular_step_converter::AngularStepConverter;
 #[derive(Debug, Clone)]
 pub struct LinearStepConverter {
    angular_step_converter: AngularStepConverter,
-    radius: Length,
-    circumference: Length,
+    circular_converter: CircularConverter,
 }

 // Constructor and basic getters
 impl LinearStepConverter {
    /// Create a new converter from radius and steps per revolution
    pub fn from_radius(steps_per_revolution: i16, radius: Length) -> Self {
-        let circumference =
-            Length::new::<meter>(2.0 * std::f64::consts::PI * radius.get::<meter>());
        Self {
            angular_step_converter: AngularStepConverter::new(steps_per_revolution),
-            radius,
-            circumference,
+            circular_converter: CircularConverter::from_radius(radius),
        }
    }

    /// Create a new converter from diameter and steps per revolution
    pub fn from_diameter(steps_per_revolution: i16, diameter: Length) -> Self {
-        let radius = diameter / 2.0;
-        Self::from_radius(steps_per_revolution, radius)
+        Self {
+            angular_step_converter: AngularStepConverter::new(steps_per_revolution),
+            circular_converter: CircularConverter::from_diameter(diameter),
+        }
    }

    /// Create a new converter from circumference and steps per revolution
    pub fn from_circumference(steps_per_revolution: i16, circumference: Length) -> Self {
-        let radius =
-            Length::new::<meter>(circumference.get::<meter>() / (2.0 * std::f64::consts::PI));
        Self {
            angular_step_converter: AngularStepConverter::new(steps_per_revolution),
-            radius,
-            circumference,
+            circular_converter: CircularConverter::from_circumference(circumference),
        }
    }

    /// Get the radius used by the converter
    pub fn radius(&self) -> Length {
-        self.radius
+        self.circular_converter.radius()
    }

    /// Get the diameter of the system
    pub fn diameter(&self) -> Length {
-        self.radius * 2.0
+        self.circular_converter.diameter()
    }

    /// Get the circumference of the system
    pub fn circumference(&self) -> Length {
-        self.circumference
+        self.circular_converter.circumference()
    }

    /// Get the steps per revolution
-    pub fn steps_per_revolution(&self) -> i16 {
+    pub const fn steps_per_revolution(&self) -> i16 {
        self.angular_step_converter.steps_per_revolution
    }
 }
@@ -79,8 +71,10 @@ impl LinearStepConverter {
    ///
    /// Formula: steps = (distance / circumference) * steps_per_revolution
    pub fn distance_to_steps(&self, distance: Length) -> f64 {
-        // Convert distance to angle: angle = distance/circumference (in revolutions)
-        let revolutions = distance.get::<meter>() / self.circumference.get::<meter>();
+        // Convert distance to revolutions using CircularConverter
+        let revolutions = self
+            .circular_converter
+            .linear_distance_to_revolutions(distance);
        let angle = Angle::new::<revolution>(revolutions);

        // Convert angle to steps
@@ -94,21 +88,19 @@ impl LinearStepConverter {
        // Convert steps to angle
        let angle = self.angular_step_converter.steps_to_angle(steps);

-        // Convert angle to distance: distance = angle * circumference
+        // Convert angle to distance using CircularConverter
        let revolutions = angle.get::<revolution>();
-        let distance = revolutions * self.circumference.get::<meter>();
-
-        Length::new::<meter>(distance)
+        self.circular_converter
+            .revolutions_to_linear_distance(revolutions)
    }

    /// Convert linear velocity to steps/second
    ///
    /// Formula: steps/second = (velocity / circumference) * steps_per_revolution
    pub fn velocity_to_steps(&self, velocity: Velocity) -> f64 {
-        // Convert linear velocity to angular velocity: ω = v/circumference (in rev/s)
-        let linear_velocity = velocity.get::<meter_per_second>();
-        let angular_velocity_rps = linear_velocity / self.circumference.get::<meter>();
-        let angular_velocity = AngularVelocity::new::<revolution_per_second>(angular_velocity_rps);
+        // Convert linear velocity to revolutions per second using CircularConverter
+        let rps = self.circular_converter.linear_velocity_to_rps(velocity);
+        let angular_velocity = AngularVelocity::new::<revolution_per_second>(rps);

        // Convert angular velocity to steps/second
        self.angular_step_converter
@@ -124,23 +116,19 @@ impl LinearStepConverter {
            .angular_step_converter
            .steps_to_angular_velocity(steps_per_second);

-        // Convert angular velocity to linear velocity: v = ω * circumference
-        let angular_velocity_rps = angular_velocity.get::<revolution_per_second>();
-        let linear_velocity = angular_velocity_rps * self.circumference.get::<meter>();
-
-        Velocity::new::<meter_per_second>(linear_velocity)
+        // Convert angular velocity to linear velocity using CircularConverter
+        let rps = angular_velocity.get::<revolution_per_second>();
+        self.circular_converter.rps_to_linear_velocity(rps)
    }

    /// Convert linear acceleration to steps/second²
    ///
    /// Formula: steps/second² = (acceleration / radius) * (steps_per_revolution / (2π))
    pub fn acceleration_to_steps(&self, acceleration: Acceleration) -> f64 {
-        // Convert linear acceleration to angular acceleration: α = a/r
-        let linear_acceleration = acceleration.get::<meter_per_second_squared>();
-        // Calculate angular acceleration in radians per second squared
-        let angular_acceleration_rad_per_s2 = linear_acceleration / self.radius.get::<meter>();
-        let angular_acceleration =
-            AngularAcceleration::new::<radian_per_second_squared>(angular_acceleration_rad_per_s2);
+        // Convert linear acceleration to angular acceleration using CircularConverter
+        let angular_acceleration = self
+            .circular_converter
+            .linear_to_angular_acceleration(acceleration);

        // Convert angular acceleration to steps/second²
        self.angular_step_converter
@@ -156,12 +144,9 @@ impl LinearStepConverter {
            .angular_step_converter
            .steps_to_angular_acceleration(steps_per_second_squared);

-        // Convert angular acceleration to linear acceleration: a = α * r
-        let angular_acceleration_rad_per_s2 =
-            angular_acceleration.get::<radian_per_second_squared>();
-        let linear_acceleration = angular_acceleration_rad_per_s2 * self.radius.get::<meter>();
-
-        Acceleration::new::<meter_per_second_squared>(linear_acceleration)
+        // Convert angular acceleration to linear acceleration using CircularConverter
+        self.circular_converter
+            .angular_to_linear_acceleration(angular_acceleration)
    }
 }

@@ -171,7 +156,9 @@ impl LinearStepConverter {
    ///
    /// Formula: angle (in revolutions) = distance / circumference
    pub fn distance_to_angle(&self, distance: Length) -> Angle {
-        let revolutions = distance.get::<meter>() / self.circumference.get::<meter>();
+        let revolutions = self
+            .circular_converter
+            .linear_distance_to_revolutions(distance);
        Angle::new::<revolution>(revolutions)
    }

@@ -180,26 +167,24 @@ impl LinearStepConverter {
    /// Formula: distance = angle (in revolutions) * circumference
    pub fn angle_to_distance(&self, angle: Angle) -> Length {
        let revolutions = angle.get::<revolution>();
-        let distance = revolutions * self.circumference.get::<meter>();
-        Length::new::<meter>(distance)
+        self.circular_converter
+            .revolutions_to_linear_distance(revolutions)
    }

    /// Convert linear velocity to angular velocity
    ///
    /// Formula: angular velocity (in rev/s) = velocity / circumference
    pub fn velocity_to_angular_velocity(&self, velocity: Velocity) -> AngularVelocity {
-        let linear_velocity = velocity.get::<meter_per_second>();
-        let angular_velocity_rps = linear_velocity / self.circumference.get::<meter>();
-        AngularVelocity::new::<revolution_per_second>(angular_velocity_rps)
+        let rps = self.circular_converter.linear_velocity_to_rps(velocity);
+        AngularVelocity::new::<revolution_per_second>(rps)
    }

    /// Convert angular velocity to linear velocity
    ///
    /// Formula: velocity = angular velocity (in rev/s) * circumference
    pub fn angular_velocity_to_velocity(&self, angular_velocity: AngularVelocity) -> Velocity {
-        let angular_velocity_rps = angular_velocity.get::<revolution_per_second>();
-        let linear_velocity = angular_velocity_rps * self.circumference.get::<meter>();
-        Velocity::new::<meter_per_second>(linear_velocity)
+        let rps = angular_velocity.get::<revolution_per_second>();
+        self.circular_converter.rps_to_linear_velocity(rps)
    }

    /// Convert linear acceleration to angular acceleration
@@ -209,9 +194,8 @@ impl LinearStepConverter {
        &self,
        acceleration: Acceleration,
    ) -> AngularAcceleration {
-        let linear_acceleration = acceleration.get::<meter_per_second_squared>();
-        let angular_acceleration_rad_per_s2 = linear_acceleration / self.radius.get::<meter>();
-        AngularAcceleration::new::<radian_per_second_squared>(angular_acceleration_rad_per_s2)
+        self.circular_converter
+            .linear_to_angular_acceleration(acceleration)
    }

    /// Convert angular acceleration to linear acceleration
@@ -221,10 +205,8 @@ impl LinearStepConverter {
        &self,
        angular_acceleration: AngularAcceleration,
    ) -> Acceleration {
-        let angular_acceleration_rad_per_s2 =
-            angular_acceleration.get::<radian_per_second_squared>();
-        let linear_acceleration = angular_acceleration_rad_per_s2 * self.radius.get::<meter>();
-        Acceleration::new::<meter_per_second_squared>(linear_acceleration)
+        self.circular_converter
+            .angular_to_linear_acceleration(angular_acceleration)
    }
 }

@@ -269,6 +251,10 @@ mod tests {
    use super::*;
    use approx::assert_relative_eq;
    use std::f64::EPSILON;
+    use uom::si::{
+        acceleration::meter_per_second_squared, angular_acceleration::radian_per_second_squared,
+        length::meter, velocity::meter_per_second,
+    };

    #[test]
    fn test_new() {
@@ -1,5 +1,5 @@
 pub mod angle_converter;
 pub mod angular_step_converter;
+pub mod circular_converter;
 pub mod linear_step_converter;
 pub mod motor_converter;
-pub mod transmission_converter;
@@ -1,22 +0,0 @@
-use uom::si::f64::AngularVelocity;
-
-#[derive(Debug, Clone)]
-pub struct TransmissionConverter {
-    pub transmission_ratio: f64,
-}
-
-impl TransmissionConverter {
-    pub fn new() -> Self {
-        Self {
-            transmission_ratio: 34.0,
-        }
-    }
-
-    pub fn calculate_screw_output_rpm(&self, rpm: AngularVelocity) -> AngularVelocity {
-        rpm / self.transmission_ratio
-    }
-
-    pub fn calculate_screw_input_rpm(&self, screw_rpm: AngularVelocity) -> AngularVelocity {
-        screw_rpm * self.transmission_ratio
-    }
-}
@@ -0,0 +1,36 @@
+use anyhow::anyhow;
+use smol::lock::Mutex;
+use std::any::Any;
+use std::sync::Arc;
+
+pub trait Downcast<T> {
+    fn downcast(&self) -> Result<T, anyhow::Error>;
+}
+
+pub trait DowncastRef<T> {
+    fn downcast_ref(&self) -> Result<&T, anyhow::Error>;
+}
+
+impl<T: 'static, U: Any + 'static> Downcast<Arc<Mutex<T>>> for Arc<Mutex<U>> {
+    fn downcast(&self) -> Result<Arc<Mutex<T>>, anyhow::Error> {
+        // Acquire a read lock on the RwLock
+        let lock = self.lock_blocking();
+
+        // Check if the inner type can be downcasted to T
+        let any: &dyn Any = &*lock;
+
+        if any.is::<T>() {
+            // Clone the Arc and return it as the desired type
+            let cloned: Arc<Mutex<dyn Any>> = self.clone();
+
+            // Transmute the Arc to the desired type
+            unsafe {
+                let arc = Arc::from_raw(Arc::into_raw(cloned) as *const Mutex<T>);
+
+                Ok(arc)
+            }
+        } else {
+            Err(anyhow!("[{}::downcast] Downcast failed", module_path!()))
+        }
+    }
+}
@@ -4,8 +4,10 @@ use ethercat_hal::devices::ek1100::EK1100_IDENTITY_A;
 use ethercat_hal::devices::el1002::EL1002_IDENTITY_A;
 use ethercat_hal::devices::el1008::EL1008_IDENTITY_A;
 use ethercat_hal::devices::el2002::EL2002_IDENTITY_A;
+use ethercat_hal::devices::el2002::EL2002_IDENTITY_B;
 use ethercat_hal::devices::el2004::EL2004_IDENTITY_A;
 use ethercat_hal::devices::el2008::EL2008_IDENTITY_A;
+use ethercat_hal::devices::el2008::EL2008_IDENTITY_B;
 use ethercat_hal::devices::el2521::{
    EL2521_IDENTITY_0000_A, EL2521_IDENTITY_0000_B, EL2521_IDENTITY_0024_A,
 };
@@ -13,8 +15,11 @@ use ethercat_hal::devices::el2522::EL2522_IDENTITY_A;
 use ethercat_hal::devices::el3001::EL3001_IDENTITY_A;
 use ethercat_hal::devices::el3021::EL3021_IDENTITY_A;
 use ethercat_hal::devices::el3024::EL3024_IDENTITY_A;
+use ethercat_hal::devices::el3062_0030::EL3062_0030_IDENTITY_A;
 use ethercat_hal::devices::el3204::EL3204_IDENTITY_A;
 use ethercat_hal::devices::el3204::EL3204_IDENTITY_B;
+use ethercat_hal::devices::el4002::EL4002_IDENTITY_A;
+use ethercat_hal::devices::el5152::EL5152_IDENTITY_A;
 use ethercat_hal::devices::el6021::{
    EL6021_IDENTITY_A, EL6021_IDENTITY_B, EL6021_IDENTITY_C, EL6021_IDENTITY_D,
 };
@@ -41,7 +46,12 @@ pub struct MachineIdentificationAddresses {
 }

 impl MachineIdentificationAddresses {
-    pub fn new(vendor_word: u16, serial_word: u16, machine_word: u16, device_word: u16) -> Self {
+    pub const fn new(
+        vendor_word: u16,
+        serial_word: u16,
+        machine_word: u16,
+        device_word: u16,
+    ) -> Self {
        Self {
            vendor_word,
            serial_word,
@@ -71,7 +81,7 @@ pub async fn read_device_identifications<'maindevice>(
 ) -> Vec<Result<DeviceMachineIdentification, Error>> {
    let mut result = Vec::new();
    for subdevice in subdevices.iter() {
-        let identification = machine_device_identification(&subdevice, maindevice).await;
+        let identification = machine_device_identification(subdevice, maindevice).await;
        result.push(identification);
    }
    result
@@ -218,33 +228,37 @@ pub async fn write_machine_device_identification<'maindevice, const MAX_PDI: usi

 /// Returns the EEPROM addresses for the machine device identification
 /// based on the subdevice's identity
-pub fn get_identification_addresses<'maindevice>(
+pub fn get_identification_addresses(
    subdevice_identity: &SubDeviceIdentity,
    subdevice_name: &str,
 ) -> Result<MachineIdentificationAddresses, Error> {
-    let identity_tuple = subdevice_identity_to_tuple(&subdevice_identity);
+    let identity_tuple = subdevice_identity_to_tuple(subdevice_identity);

    Ok(match identity_tuple {
        EK1100_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL1002_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL1008_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL2002_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL2002_IDENTITY_A | EL2002_IDENTITY_B => MachineIdentificationAddresses::default(),
        EL2004_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL3204_IDENTITY_A | EL3204_IDENTITY_B => MachineIdentificationAddresses::default(),
-        EL2008_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL3001_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL2008_IDENTITY_A | EL2008_IDENTITY_B => MachineIdentificationAddresses::default(),
        EL2521_IDENTITY_0000_A | EL2521_IDENTITY_0000_B | EL2521_IDENTITY_0024_A => {
            MachineIdentificationAddresses::default()
        }
        EL2522_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL3024_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL3001_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL3021_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL7031_IDENTITY_A | EL7031_IDENTITY_B => MachineIdentificationAddresses::default(),
-        EL7031_0030_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL7041_0052_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL3024_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL3062_0030_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL3204_IDENTITY_A | EL3204_IDENTITY_B => MachineIdentificationAddresses::default(),
+        EL4002_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL5152_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL6021_IDENTITY_A | EL6021_IDENTITY_B | EL6021_IDENTITY_C | EL6021_IDENTITY_D => {
            MachineIdentificationAddresses::default()
        }
+        EL7031_IDENTITY_A | EL7031_IDENTITY_B => MachineIdentificationAddresses::default(),
+        EL7031_0030_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL7041_0052_IDENTITY_A => MachineIdentificationAddresses::default(),
+
        _ => {
            // block_on(u16dump(&subdevice, maindevice, 0x00, 0xff))?;
            Err(anyhow!(
@@ -270,8 +284,8 @@ async fn u16dump<'maindevice>(
        words.push(subdevice.eeprom_read(maindevice, word).await?);
    }

-    print!(
-        "EEPROM dump for {} from 0x{:04x} to 0x{:04x}\n",
+    println!(
+        "EEPROM dump for {} from 0x{:04x} to 0x{:04x}",
        subdevice.name(),
        start_byte / 2,
        end_byte / 2
@@ -286,7 +300,7 @@ fn u16print(start_byte: u16, end_byte: u16, data: Vec<u16>) {
    let table_start_word = start_byte & 0xfff0;
    let table_end_word = (end_byte & 0xfff0_u16) + 0x10_u16;

-    let rows = table_end_word - table_start_word >> 4;
+    let rows = (table_end_word - table_start_word) >> 4;

    for row in 0..rows {
        print!("0x{:04x} | ", (table_start_word + row * 0x10) / 2);
@@ -303,7 +317,7 @@ fn u16print(start_byte: u16, end_byte: u16, data: Vec<u16>) {
                }
            }
        }
-        print!("\n");
+        println!();
    }
 }

@@ -42,7 +42,7 @@ pub async fn discover_ethercat_interface() -> Result<String, anyhow::Error> {

    // Get eligible interfaces
    let mut interfaces = Interface::get_all()
-        .or_else(|e| Err(anyhow::anyhow!("Failed to get network interfaces: {}", e)))?
+        .map_err(|e| anyhow::anyhow!("Failed to get network interfaces: {}", e))?
        .into_iter()
        .filter(|iface| {
            iface.is_up()
@@ -90,10 +90,7 @@ pub async fn discover_ethercat_interface() -> Result<String, anyhow::Error> {
    // Wait for all tasks to complete and collect successful results
    let successful_interfaces: Vec<String> = tasks
        .into_iter()
-        .filter_map(|task| match task.join().expect("Should join thread") {
-            Some(name) => Some(name),
-            None => None,
-        })
+        .filter_map(|task| task.join().expect("Should join thread"))
        .collect();

    // Return the first successful interface (they're sorted by name)
@@ -147,7 +144,7 @@ fn test_interface(interface: &str) -> Result<(), anyhow::Error> {
                // Default 10000
                dc_static_sync_iterations: 10000,
                // Default None
-                retry_behaviour: ethercrab::RetryBehaviour::None,
+                retry_behaviour: ethercrab::RetryBehaviour::Count(5),
            },
        ));

@@ -0,0 +1,337 @@
+use serde::Serialize;
+use serde::ser::{
+    SerializeMap, SerializeSeq, SerializeStruct, SerializeStructVariant, SerializeTuple,
+    SerializeTupleStruct, SerializeTupleVariant, Serializer,
+};
+use std::error::Error;
+use std::fmt::Display;
+use std::hash::{DefaultHasher, Hasher};
+
+#[derive(Debug)]
+pub struct HashSerializerError {}
+
+impl std::fmt::Display for HashSerializerError {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        f.write_str(&format!("{:?}", self))
+        // f.debug_struct("HashSerialiyerError")
+        // .finish()
+    }
+}
+
+impl Error for HashSerializerError {}
+
+impl serde::ser::Error for HashSerializerError {
+    fn custom<T>(_msg: T) -> Self
+    where
+        T: Display,
+    {
+        Self {}
+    }
+}
+
+pub struct HashSerializer<'a, H: Hasher>(&'a mut H);
+impl<H: Hasher> SerializeSeq for HashSerializer<'_, H> {
+    type Ok = ();
+    type Error = HashSerializerError;
+
+    fn serialize_element<T>(&mut self, value: &T) -> Result<(), Self::Error>
+    where
+        T: ?Sized + Serialize,
+    {
+        value.serialize(HashSerializer(self.0))
+    }
+
+    fn end(self) -> Result<Self::Ok, Self::Error> {
+        Ok(())
+    }
+}
+
+impl<H: Hasher> SerializeTuple for HashSerializer<'_, H> {
+    type Ok = ();
+    type Error = HashSerializerError;
+
+    fn serialize_element<T>(&mut self, value: &T) -> Result<(), Self::Error>
+    where
+        T: ?Sized + Serialize,
+    {
+        value.serialize(HashSerializer(self.0))
+    }
+
+    fn end(self) -> Result<Self::Ok, Self::Error> {
+        Ok(())
+    }
+}
+
+impl<H: Hasher> SerializeTupleStruct for HashSerializer<'_, H> {
+    type Ok = ();
+    type Error = HashSerializerError;
+
+    fn serialize_field<T>(&mut self, value: &T) -> Result<(), Self::Error>
+    where
+        T: ?Sized + Serialize,
+    {
+        value.serialize(HashSerializer(self.0))
+    }
+
+    fn end(self) -> Result<Self::Ok, Self::Error> {
+        Ok(())
+    }
+}
+
+impl<H: Hasher> SerializeTupleVariant for HashSerializer<'_, H> {
+    type Ok = ();
+    type Error = HashSerializerError;
+
+    fn serialize_field<T>(&mut self, value: &T) -> Result<(), Self::Error>
+    where
+        T: ?Sized + Serialize,
+    {
+        value.serialize(HashSerializer(self.0))
+    }
+
+    fn end(self) -> Result<Self::Ok, Self::Error> {
+        Ok(())
+    }
+}
+
+impl<H: Hasher> SerializeMap for HashSerializer<'_, H> {
+    type Ok = ();
+    type Error = HashSerializerError;
+
+    fn serialize_key<T>(&mut self, key: &T) -> Result<(), Self::Error>
+    where
+        T: ?Sized + Serialize,
+    {
+        key.serialize(HashSerializer(self.0))
+    }
+
+    fn serialize_value<T>(&mut self, value: &T) -> Result<(), Self::Error>
+    where
+        T: ?Sized + Serialize,
+    {
+        value.serialize(HashSerializer(self.0))
+    }
+
+    fn end(self) -> Result<Self::Ok, Self::Error> {
+        Ok(())
+    }
+}
+
+impl<H: Hasher> SerializeStruct for HashSerializer<'_, H> {
+    type Ok = ();
+    type Error = HashSerializerError;
+
+    fn serialize_field<T>(&mut self, key: &'static str, value: &T) -> Result<(), Self::Error>
+    where
+        T: ?Sized + Serialize,
+    {
+        // Optional: hash the field name to avoid collisions
+        self.0.write(key.as_bytes());
+        value.serialize(HashSerializer(self.0))
+    }
+
+    fn end(self) -> Result<Self::Ok, Self::Error> {
+        Ok(())
+    }
+}
+
+impl<H: Hasher> SerializeStructVariant for HashSerializer<'_, H> {
+    type Ok = ();
+    type Error = HashSerializerError;
+
+    fn serialize_field<T>(&mut self, key: &'static str, value: &T) -> Result<(), Self::Error>
+    where
+        T: ?Sized + Serialize,
+    {
+        self.0.write(key.as_bytes());
+        value.serialize(HashSerializer(self.0))
+    }
+
+    fn end(self) -> Result<Self::Ok, Self::Error> {
+        Ok(())
+    }
+}
+
+impl<H: Hasher> Serializer for HashSerializer<'_, H> {
+    type Ok = ();
+    type Error = HashSerializerError;
+    type SerializeSeq = Self;
+    type SerializeTuple = Self;
+    type SerializeTupleStruct = Self;
+    type SerializeTupleVariant = Self;
+    type SerializeMap = Self;
+    type SerializeStruct = Self;
+    type SerializeStructVariant = Self;
+
+    fn serialize_bool(self, v: bool) -> Result<(), Self::Error> {
+        self.0.write_u8(v as u8);
+        Ok(())
+    }
+
+    fn serialize_i8(self, v: i8) -> Result<(), Self::Error> {
+        self.0.write_i8(v);
+        Ok(())
+    }
+
+    fn serialize_i16(self, v: i16) -> Result<(), Self::Error> {
+        self.0.write_i16(v);
+        Ok(())
+    }
+
+    fn serialize_i32(self, v: i32) -> Result<(), Self::Error> {
+        self.0.write_i32(v);
+        Ok(())
+    }
+
+    fn serialize_i64(self, v: i64) -> Result<(), Self::Error> {
+        self.0.write_i64(v);
+        Ok(())
+    }
+
+    fn serialize_u8(self, v: u8) -> Result<(), Self::Error> {
+        self.0.write_u8(v);
+        Ok(())
+    }
+
+    fn serialize_u16(self, v: u16) -> Result<(), Self::Error> {
+        self.0.write_u16(v);
+        Ok(())
+    }
+
+    fn serialize_u32(self, v: u32) -> Result<(), Self::Error> {
+        self.0.write_u32(v);
+        Ok(())
+    }
+
+    fn serialize_u64(self, v: u64) -> Result<(), Self::Error> {
+        self.0.write_u64(v);
+        Ok(())
+    }
+
+    fn serialize_f32(self, v: f32) -> Result<(), Self::Error> {
+        self.0.write_u32(v.to_bits());
+        Ok(())
+    }
+
+    fn serialize_f64(self, v: f64) -> Result<(), Self::Error> {
+        self.0.write_u64(v.to_bits());
+        Ok(())
+    }
+
+    fn serialize_char(self, v: char) -> Result<(), Self::Error> {
+        let mut buf = [0; 4];
+        self.0.write(v.encode_utf8(&mut buf).as_bytes());
+        Ok(())
+    }
+
+    fn serialize_str(self, v: &str) -> Result<(), Self::Error> {
+        self.0.write(v.as_bytes());
+        Ok(())
+    }
+
+    fn serialize_bytes(self, v: &[u8]) -> Result<(), Self::Error> {
+        self.0.write(v);
+        Ok(())
+    }
+
+    fn serialize_none(self) -> Result<(), Self::Error> {
+        self.0.write_u8(0); // type tag for None
+        Ok(())
+    }
+
+    fn serialize_some<T: ?Sized + Serialize>(self, value: &T) -> Result<(), Self::Error> {
+        self.0.write_u8(1); // type tag for Some
+        value.serialize(self)
+    }
+
+    fn serialize_unit(self) -> Result<(), Self::Error> {
+        self.0.write_u8(0);
+        Ok(())
+    }
+
+    fn serialize_unit_struct(self, _name: &'static str) -> Result<(), Self::Error> {
+        self.serialize_unit()
+    }
+
+    fn serialize_unit_variant(
+        self,
+        _name: &'static str,
+        variant_index: u32,
+        _variant: &'static str,
+    ) -> Result<(), Self::Error> {
+        self.0.write_u32(variant_index);
+        Ok(())
+    }
+
+    fn serialize_newtype_struct<T: ?Sized + Serialize>(
+        self,
+        _name: &'static str,
+        value: &T,
+    ) -> Result<(), Self::Error> {
+        value.serialize(self)
+    }
+
+    fn serialize_newtype_variant<T: ?Sized + Serialize>(
+        self,
+        _name: &'static str,
+        variant_index: u32,
+        _variant: &'static str,
+        value: &T,
+    ) -> Result<(), Self::Error> {
+        self.0.write_u32(variant_index);
+        value.serialize(self)
+    }
+
+    // For sequences, tuples, maps, structs, just return self for now
+    fn serialize_seq(self, _len: Option<usize>) -> Result<Self::SerializeSeq, Self::Error> {
+        Ok(self)
+    }
+    fn serialize_tuple(self, _len: usize) -> Result<Self::SerializeTuple, Self::Error> {
+        Ok(self)
+    }
+    fn serialize_tuple_struct(
+        self,
+        _name: &'static str,
+        _len: usize,
+    ) -> Result<Self::SerializeTupleStruct, Self::Error> {
+        Ok(self)
+    }
+    fn serialize_tuple_variant(
+        self,
+        _name: &'static str,
+        variant_index: u32,
+        _variant: &'static str,
+        _len: usize,
+    ) -> Result<Self::SerializeTupleVariant, Self::Error> {
+        self.0.write_u32(variant_index);
+        Ok(self)
+    }
+    fn serialize_map(self, _len: Option<usize>) -> Result<Self::SerializeMap, Self::Error> {
+        Ok(self)
+    }
+    fn serialize_struct(
+        self,
+        _name: &'static str,
+        _len: usize,
+    ) -> Result<Self::SerializeStruct, Self::Error> {
+        Ok(self)
+    }
+    fn serialize_struct_variant(
+        self,
+        _name: &'static str,
+        variant_index: u32,
+        _variant: &'static str,
+        _len: usize,
+    ) -> Result<Self::SerializeStructVariant, Self::Error> {
+        self.0.write_u32(variant_index);
+        Ok(self)
+    }
+}
+
+// A helper that uses Serialize to feed into a Hasher without allocating a buffer:
+pub fn hash_with_serde_model<T: Serialize>(value: T) -> u64 {
+    let mut h = DefaultHasher::new();
+    let ser = HashSerializer(&mut h);
+    value.serialize(ser).expect("serialize to hasher failed");
+    h.finish()
+}
@@ -63,11 +63,11 @@ pub fn scale<T>(normalized_value: f64, new_min: T, new_max: T) -> T
 where
    T: Into<f64> + From<f64>,
 {
-    let normalized_value: f64 = normalized_value.into();
+    let normalized_value: f64 = normalized_value;
    let new_min: f64 = new_min.into();
    let new_max: f64 = new_max.into();

-    let result = normalized_value * (new_max - new_min) + new_min;
+    let result = normalized_value.mul_add(new_max - new_min, new_min);
    T::from(result)
 }

@@ -128,11 +128,11 @@ where
    // If we are under X we scale linearly from 0 to y
    // If we are over X we scale linearly from y to 1
    if value_f64 < x_f64 {
-        return normalize(value_f64, 0.0, x_f64) * y_f64;
+        normalize(value_f64, 0.0, x_f64) * y_f64
    } else if value_f64 > x_f64 {
-        return normalize(value_f64, x_f64, 1.0) * (1.0 - y_f64) + y_f64;
+        normalize(value_f64, x_f64, 1.0).mul_add(1.0 - y_f64, y_f64)
    } else {
-        return y_f64;
+        y_f64
    }
 }

@@ -273,7 +273,7 @@ pub fn interpolate_exponential(normalized_value: f64, steepness: f64) -> f64 {
        return normalized_value;
    }
    let numerator = steepness.exp().powf(normalized_value) - 1.0;
-    let denominator = steepness.exp() - 1.0;
+    let denominator = steepness.exp_m1();

    clip(numerator / denominator)
 }
@@ -414,7 +414,7 @@ pub fn interpolate_inflected_exponential(x: f64, steepness: f64) -> f64 {

        // Use standard exponential interpolation
        let result = interpolate_exponential(x_norm, steepness);
-        0.5 + 0.5 * result
+        0.5f64.mul_add(result, 0.5)
    }
 }

@@ -1,189 +0,0 @@
-use smol::Timer;
-use std::time::{Duration, Instant};
-use tracing::instrument;
-
-pub struct LoopThrottle {
-    target_cycle_time: Duration,
-    update_interval_cycles: usize,
-    window_start: Instant,
-    total_cycles: usize,
-    delay: Duration,
-    last_avg_cycle_time: Duration,
-    on_update: Option<Box<dyn Fn(LoopThrottleUpdate)>>,
-}
-
-pub struct LoopThrottleUpdate {
-    pub delay: Duration,
-    pub avg_cycle_time: Duration,
-    pub error: i128, // Error in nanoseconds
-}
-impl LoopThrottle {
-    pub fn new(
-        target_cycle_time: Duration,
-        update_interval_cycles: usize,
-        on_update: Option<Box<dyn Fn(LoopThrottleUpdate)>>,
-    ) -> Self {
-        Self {
-            target_cycle_time,
-            update_interval_cycles,
-            window_start: Instant::now(),
-            total_cycles: 0,
-            delay: target_cycle_time,
-            last_avg_cycle_time: target_cycle_time,
-            on_update,
-        }
-    }
-    #[instrument(skip_all)]
-    pub async fn sleep(&mut self) {
-        self.total_cycles += 1;
-
-        // Check if it's time to update (every N cycles)
-        if self.total_cycles % self.update_interval_cycles == 0 {
-            let actual_total_time = self.window_start.elapsed();
-
-            // Use integer arithmetic where possible
-            let avg_actual_cycle_time_nanos =
-                actual_total_time.as_nanos() / self.update_interval_cycles as u128;
-            let target_cycle_time_nanos = self.target_cycle_time.as_nanos();
-
-            // Calculate error in nanoseconds (signed)
-            let error_nanos = target_cycle_time_nanos as i128 - avg_actual_cycle_time_nanos as i128;
-
-            // Update current delay, allowing zero or negative values to become zero
-            let new_delay_nanos = (self.delay.as_nanos() as i128 + error_nanos).max(0) as u64;
-
-            self.delay = Duration::from_nanos(new_delay_nanos);
-            self.last_avg_cycle_time = Duration::from_nanos(avg_actual_cycle_time_nanos as u64);
-
-            // Reset for next measurement window
-            self.window_start = Instant::now();
-            self.total_cycles = 0; // Reset to prevent overflow
-
-            // if we have an update callback, call it
-            if let Some(on_update) = &self.on_update {
-                on_update(LoopThrottleUpdate {
-                    delay: self.delay,
-                    avg_cycle_time: self.last_avg_cycle_time,
-                    error: error_nanos,
-                });
-            }
-        }
-
-        Timer::after(self.delay).await;
-    }
-
-    pub fn get_cycle_time(&self) -> Duration {
-        self.last_avg_cycle_time
-    }
-
-    pub fn get_delay(&self) -> Duration {
-        self.delay
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use smol::block_on;
-
-    #[test]
-    fn test_adaptive_throttle_timing() {
-        block_on(async {
-            let update_interval_cycles = 100;
-            let target_cycle_time = Duration::from_micros(5);
-            let mut throttle = LoopThrottle::new(target_cycle_time, update_interval_cycles, None);
-
-            let test_start = Instant::now();
-            let mut cycle_times = Vec::new();
-
-            // Run for several cycles to trigger multiple updates
-            for _ in 0..10000 {
-                let cycle_start = Instant::now();
-
-                // Simulate some work
-                Timer::after(Duration::from_micros(5)).await;
-
-                throttle.sleep().await;
-
-                let cycle_time = cycle_start.elapsed();
-                cycle_times.push(cycle_time);
-            }
-
-            let total_test_time = test_start.elapsed();
-            let avg_cycle_time = cycle_times.iter().sum::<Duration>() / cycle_times.len() as u32;
-
-            println!("Test completed in: {:?}", total_test_time);
-            println!("Average cycle time: {:?}", avg_cycle_time);
-            println!("Target cycle time: {:?}", target_cycle_time);
-            println!("Last measured avg: {:?}", throttle.get_cycle_time());
-
-            // Assert that we're reasonably close to target timing
-            let tolerance = Duration::from_millis(10);
-            assert!(
-                avg_cycle_time >= target_cycle_time.saturating_sub(tolerance)
-                    && avg_cycle_time <= target_cycle_time + tolerance,
-                "Average cycle time {:?} not within tolerance of target {:?}",
-                avg_cycle_time,
-                target_cycle_time
-            );
-        });
-    }
-
-    #[test]
-    fn test_throttle_adaptation() {
-        block_on(async {
-            let target_cycle_time = Duration::from_millis(100);
-            let update_interval_cycles = 3;
-            let mut throttle = LoopThrottle::new(target_cycle_time, update_interval_cycles, None);
-
-            let initial_delay = throttle.get_delay();
-
-            // Run enough cycles to trigger multiple updates
-            for _ in 0..12 {
-                // Add variable work to test adaptation
-                Timer::after(Duration::from_millis(10)).await;
-                throttle.sleep().await;
-            }
-
-            println!("Initial delay: {:?}", initial_delay);
-            println!("Final delay: {:?}", throttle.get_delay());
-            println!("Last avg cycle time: {:?}", throttle.get_cycle_time());
-
-            assert!(throttle.get_cycle_time() > Duration::ZERO);
-        });
-    }
-
-    #[test]
-    fn test_throttle_initialization() {
-        let update_interval_cycles = 10;
-        let target_cycle_time = Duration::from_millis(75);
-        let throttle = LoopThrottle::new(target_cycle_time, update_interval_cycles, None);
-
-        assert_eq!(throttle.get_delay(), target_cycle_time);
-        assert_eq!(throttle.get_cycle_time(), target_cycle_time);
-        assert_eq!(throttle.total_cycles, 0);
-    }
-
-    #[test]
-    fn test_overflow_protection() {
-        block_on(async {
-            let target_cycle_time = Duration::from_micros(1);
-            let update_interval_cycles = 5;
-            let mut throttle = LoopThrottle::new(target_cycle_time, update_interval_cycles, None);
-
-            // Run many cycles to ensure total_cycles resets properly
-            for i in 0..50 {
-                throttle.sleep().await;
-
-                // Verify that total_cycles never exceeds update_interval_cycles
-                assert!(
-                    throttle.total_cycles <= update_interval_cycles,
-                    "Cycle {}: total_cycles ({}) exceeded update_interval_cycles ({})",
-                    i,
-                    throttle.total_cycles,
-                    update_interval_cycles
-                );
-            }
-        });
-    }
-}
@@ -1,6 +1,6 @@
 pub mod compare_lists;
+pub mod hasher_serializer;
 pub mod hashing;
 pub mod interpolation;
-pub mod loop_trottle;
 pub mod moving_time_window;
 pub mod retry;
@@ -11,56 +11,40 @@ pub trait DivideByCount {

 impl DivideByCount for f64 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as f64)
+        self / (count as Self)
    }
 }

 impl DivideByCount for f32 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as f32)
+        self / (count as Self)
    }
 }

 impl DivideByCount for i32 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as i32)
+        self / (count as Self)
    }
 }

 impl DivideByCount for i64 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as i64)
+        self / (count as Self)
    }
 }

 impl DivideByCount for u32 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as u32)
+        self / (count as Self)
    }
 }

 impl DivideByCount for u64 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as u64)
+        self / (count as Self)
    }
 }

-/// A generic moving time window that works with numeric types.
-///
-/// # Examples
-///
-/// ```rust
-/// use std::time::{Duration, Instant};
-/// use control_core::helpers::moving_time_window::MovingTimeWindow;
-///
-/// let mut window = MovingTimeWindow::new(Duration::from_secs(10), 100);
-/// window.update(1.5, Instant::now());
-/// window.update(2.5, Instant::now());
-/// 
-/// let average = window.average();
-/// println!("Average: {}", average);
-/// ```
-
 // Type aliases for common use cases
 pub type F64Window = MovingTimeWindow<f64>;
 pub type F32Window = MovingTimeWindow<f32>;
@@ -194,15 +178,14 @@ where
            .samples
            .iter()
            .map(|(v, _)| *v)
-            .fold(None, |acc, val| match acc {
-                None => Some(val),
-                Some(current_max) => {
+            .fold(None, |acc, val| {
+                acc.map_or(Some(val), |current_max| {
                    if val > current_max {
                        Some(val)
                    } else {
                        Some(current_max)
                    }
-                }
+                })
            })
            .unwrap_or_default();

@@ -229,15 +212,14 @@ where
            .samples
            .iter()
            .map(|(v, _)| *v)
-            .fold(None, |acc, val| match acc {
-                None => Some(val),
-                Some(current_min) => {
+            .fold(None, |acc, val| {
+                acc.map_or(Some(val), |current_min| {
                    if val < current_min {
                        Some(val)
                    } else {
                        Some(current_min)
                    }
-                }
+                })
            })
            .unwrap_or_default();

@@ -0,0 +1,113 @@
+#[cfg(target_os = "linux")]
+use libc;
+use std::ffi::CString;
+use std::io;
+use std::str;
+
+#[cfg(target_os = "linux")]
+fn read_proc_interrupts() -> Result<String, io::Error> {
+    let path = CString::new("/proc/interrupts").unwrap();
+    // O_RDONLY
+    let fd = unsafe { libc::open(path.as_ptr(), libc::O_RDONLY) };
+    if fd < 0 {
+        return Err(io::Error::from_raw_os_error(-fd));
+    }
+
+    let mut buf: Vec<u8> = Vec::new();
+    let mut chunk = [0u8; 8192];
+
+    loop {
+        let n = unsafe { libc::read(fd, chunk.as_mut_ptr() as *mut _, chunk.len()) };
+        if n < 0 {
+            let e = io::Error::from_raw_os_error(-n as i32);
+            unsafe { libc::close(fd) };
+            return Err(e);
+        } else if n == 0 {
+            break;
+        } else {
+            buf.extend_from_slice(&chunk[..n as usize]);
+        }
+    }
+    unsafe { libc::close(fd) };
+    Ok(String::from_utf8_lossy(&buf).into_owned())
+}
+
+#[cfg(target_os = "linux")]
+fn get_interface_irq(proc_content: &str, interface_name: &str) -> Option<u32> {
+    for line in proc_content.lines() {
+        if line.contains(interface_name) {
+            if let Some(colon_pos) = line.find(':') {
+                let head = &line[..colon_pos].trim();
+                // try parse head as integer IRQ number
+                if let Ok(irq) = head.parse::<u32>() {
+                    return Some(irq);
+                }
+            }
+        }
+    }
+    None
+}
+
+/// Since kernel 3.0 it’s possible to use the /proc/irq/<IRQ-NUMBER>/smp_affinity_list
+/// With comma seperated values
+/// This function takes the irq identifier and writes the cpu string
+/// into /proc/irq/irq_number/smp_affinity_list
+#[cfg(target_os = "linux")]
+fn set_irq_affinity_raw(irq: u32, cpu: &str) -> Result<(), io::Error> {
+    let path: String = format!("/proc/irq/{}/smp_affinity_list", irq);
+    let cpath = CString::new(path.clone()).unwrap();
+    // We want to completely overwrite the smp affinities, so that we guarentee execution on the specified cores
+    let file_descriptor = unsafe { libc::open(cpath.as_ptr(), libc::O_WRONLY) };
+
+    if file_descriptor < 0 {
+        tracing::info!("Permission denied to write: {}", path);
+        return Err(io::Error::new(
+            io::ErrorKind::PermissionDenied,
+            format!("failed to open {}: errno {}", path, -file_descriptor),
+        ));
+    }
+    // convert to "raw bytes"
+    // cpu needs to be a string because we need the raw ascii code 48 = '0' and so on as bytes
+    let bytes = cpu.as_bytes();
+    let mut bytes_written_total = 0usize;
+
+    while bytes_written_total < bytes.len() {
+        let to_write = &bytes[bytes_written_total..];
+        let bytes_written = unsafe {
+            libc::write(
+                file_descriptor,
+                to_write.as_ptr() as *const _,
+                to_write.len(),
+            )
+        };
+        if bytes_written < 0 {
+            let e = io::Error::from_raw_os_error(-bytes_written as i32);
+            unsafe { libc::close(file_descriptor) };
+            return Err(e);
+        }
+        bytes_written_total += bytes_written as usize;
+    }
+    unsafe { libc::close(file_descriptor) };
+    Ok(())
+}
+
+/// This is used to make sure that a given irq handler runs on the expected cpu
+/// On Realtime systems this is the make or break fix for certain usecases like ethercrab
+/// On our machines the 99.99th percentile of cycle times was very bad ~5-11 ms while ethercat is supposed to be in the microseconds
+/// After pinning the ethernet irq to the core that the ethercat code ran on 99.99th percentile went down to ~200us (microseconds)
+/// Example input: irq_name: "eno1" , cpu: 2
+/// Remember that cpu cores are counted from 0
+#[cfg(target_os = "linux")]
+pub fn set_irq_affinity(irq_name: &str, cpu: u32) -> Result<(), anyhow::Error> {
+    let proc_contents = read_proc_interrupts()?;
+    let irq = get_interface_irq(&proc_contents, irq_name);
+    if irq.is_none() {
+        return Err(anyhow::anyhow!("Couldnt find irq number!"));
+    }
+    let res = set_irq_affinity_raw(irq.unwrap(), &cpu.to_string());
+    if res.is_err() {
+        return Err(anyhow::anyhow!("Couldnt write affinity list!"));
+    } else {
+        return Ok(());
+    }
+}
@@ -1,14 +1,20 @@
-pub mod actors;
 pub mod controllers;
 pub mod converters;
+pub mod downcast;
 pub mod ethercat;
 pub mod helpers;
+pub mod irq_handling;
 pub mod machines;
 pub mod modbus;
+pub mod realtime;
 pub mod rest;
 pub mod serial;
 pub mod socketio;
+pub mod transmission;
 pub mod uom_extensions;

+#[cfg(feature = "video-streaming")]
+pub mod video_streaming;
+
 #[macro_use]
 extern crate uom;
@@ -1,8 +1,27 @@
 use serde_json::Value;
+use smol::lock::Mutex;
+use std::sync::Arc;

 use crate::socketio::namespace::Namespace;

 pub trait MachineApi {
    fn api_mutate(&mut self, value: Value) -> Result<(), anyhow::Error>;
-    fn api_event_namespace(&mut self) -> &mut Namespace;
+    fn api_event_namespace(&mut self) -> Arc<Mutex<Namespace>>;
+
+    /// Returns a list of available video stream identifiers for this machine
+    #[cfg(feature = "video-streaming")]
+    fn api_video_streams(&self) -> Vec<String> {
+        Vec::new()
+    }
+
+    /// Get a video stream receiver for the specified stream ID
+    /// Returns None if the stream doesn't exist
+    #[cfg(feature = "video-streaming")]
+    fn api_get_video_stream(
+        &mut self,
+        stream_id: &str,
+    ) -> Option<tokio::sync::broadcast::Receiver<Vec<u8>>> {
+        let _ = stream_id;
+        None
+    }
 }
@@ -0,0 +1,208 @@
+use crate::downcast::Downcast;
+use crate::machines::identification::MachineIdentificationUnique;
+use crate::machines::manager::MachineManager;
+use crate::socketio::{event::GenericEvent, namespace::Namespace};
+use serde::Serialize;
+use smol::block_on;
+use smol::lock::RwLock;
+use std::sync::Arc;
+use std::sync::Weak;
+
+use super::Machine;
+use anyhow::anyhow;
+use smol::{channel::Sender, lock::Mutex};
+use socketioxide::extract::SocketRef;
+
+#[derive(Debug)]
+pub enum MachineConnection<M: Machine + ?Sized>
+where
+    Self: Sized,
+{
+    Error(anyhow::Error),
+    Disconnected,
+    Connected(Arc<Mutex<M>>),
+}
+
+#[derive(Debug)]
+pub struct MachineSlot<M: Machine + ?Sized>
+where
+    Self: Sized,
+{
+    pub machine_connection: MachineConnection<M>,
+    pub namespace: Arc<Mutex<Namespace>>,
+}
+
+pub type MachineConnectionGeneric = MachineConnection<dyn Machine>;
+
+pub type MachineSlotGeneric = MachineSlot<dyn Machine>;
+
+impl<M: Machine> Clone for MachineConnection<M> {
+    fn clone(&self) -> Self {
+        match self {
+            Self::Connected(m) => Self::Connected(m.clone()),
+            Self::Error(e) => Self::Error(anyhow!(e.to_string())),
+            Self::Disconnected => Self::Disconnected,
+        }
+    }
+}
+
+impl<M: Machine + ?Sized> MachineConnection<M> {
+    pub fn to_error(&self) -> Option<anyhow::Error> {
+        match self {
+            MachineConnection::Error(err) => Some(anyhow!(err.to_string())),
+            Self::Disconnected => Some(anyhow!("Machine is disconnected")),
+            _ => None,
+        }
+    }
+
+    pub fn to_machine(&self) -> Option<Arc<Mutex<M>>> {
+        match self {
+            Self::Connected(machine) => Some(machine.clone()),
+            _ => None,
+        }
+    }
+}
+
+impl<M: Machine + ?Sized> MachineSlot<M> {
+    pub fn new(socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>) -> Self {
+        let namespace = Namespace::new(socket_queue_tx);
+        Self {
+            machine_connection: MachineConnection::Disconnected,
+            namespace: Arc::new(Mutex::new(namespace)),
+        }
+    }
+
+    pub const fn is_connected(&self) -> bool {
+        matches!(self.machine_connection, MachineConnection::Connected(_))
+    }
+}
+
+pub trait CrossConnectableMachine<
+    F: CrossConnectableMachine<F, T>,
+    T: CrossConnectableMachine<T, F>,
+>: Machine
+{
+    fn get_cross_connection(&mut self) -> &mut MachineCrossConnection<F, T>;
+}
+
+#[derive(Debug)]
+pub struct MachineCrossConnection<
+    F: CrossConnectableMachine<F, T>,
+    T: CrossConnectableMachine<T, F>,
+> {
+    machine_manager: Weak<RwLock<MachineManager>>,
+    machine_identification_unique: MachineIdentificationUnique,
+    connected_machine: Weak<Mutex<MachineSlot<T>>>,
+    _make_compiler_happy: std::marker::PhantomData<F>, // This marks tells the typechecker, that we
+                                                       // need F in our type arguemnts. We are ok with
+                                                       // it being used only in a fake field. Without
+                                                       // F being fixed, we would not be anble to implement
+                                                       // reverse connecting and disconnecting properly,
+                                                       // as the type on the other side would decay
+                                                       // to an unknown type. See also https://github.com/qitechgmbh/control/pull/625#discussion_r2379566315
+}
+
+#[derive(Serialize, Debug, Clone)]
+pub struct MachineCrossConnectionState {
+    /// Connected Machine
+    pub machine_identification_unique: Option<MachineIdentificationUnique>,
+    pub is_available: bool,
+}
+
+impl<F: CrossConnectableMachine<F, T>, T: CrossConnectableMachine<T, F>>
+    MachineCrossConnection<F, T>
+{
+    pub fn new(
+        manager: Weak<RwLock<MachineManager>>,
+        machine_identification_unique: &MachineIdentificationUnique,
+    ) -> Self {
+        Self {
+            machine_manager: manager,
+            connected_machine: Weak::new(),
+            machine_identification_unique: machine_identification_unique.clone(),
+            _make_compiler_happy: std::marker::PhantomData,
+        }
+    }
+
+    pub fn set_connected_machine(
+        &mut self,
+        machine_identification_unique: &MachineIdentificationUnique,
+    ) {
+        if let Some(machine_manager) = self.machine_manager.upgrade() {
+            let machine_manager = block_on(machine_manager.read());
+
+            let slot: Arc<Mutex<MachineSlotGeneric>> =
+                match machine_manager.get(&machine_identification_unique) {
+                    Some(c) => c,
+                    None => return,
+                };
+
+            let slot: Arc<Mutex<MachineSlot<T>>> = match Downcast::downcast(&slot) {
+                Ok(s) => s,
+                Err(_) => return,
+            };
+
+            self.connected_machine = Arc::downgrade(&slot);
+        } else {
+            panic!("The machine manager has died, cannot do anything at this point");
+        }
+    }
+
+    pub fn reverse_connect(&self) {
+        if let Some(slot) = self.connected_machine.upgrade() {
+            let slot = &mut slot.lock_blocking();
+
+            if let MachineConnection::Connected(machine) = &slot.machine_connection {
+                let mut machine = machine.lock_blocking();
+                let cross_connection = machine.get_cross_connection();
+
+                if !cross_connection.is_connected() {
+                    cross_connection.set_connected_machine(&self.machine_identification_unique);
+                }
+            };
+        }
+    }
+
+    pub fn disconnect(&mut self) {
+        self.connected_machine = Weak::new();
+    }
+
+    pub fn reverse_disconnect(&mut self) {
+        if let Some(slot) = self.connected_machine.upgrade() {
+            let slot = slot.lock_blocking();
+
+            if let MachineConnection::Connected(machine) = &slot.machine_connection {
+                let mut machine = machine.lock_blocking();
+                let cross_connection = machine.get_cross_connection();
+                cross_connection.disconnect();
+            };
+        }
+    }
+
+    pub fn is_connected(&self) -> bool {
+        let arc = self.connected_machine.upgrade();
+        arc.is_some()
+    }
+
+    pub fn to_state(&self) -> MachineCrossConnectionState {
+        if let Some(slot) = self.connected_machine.upgrade() {
+            let connection = &slot.lock_blocking().machine_connection;
+
+            if let MachineConnection::Connected(machine) = connection {
+                let machine = machine.lock_blocking();
+
+                return MachineCrossConnectionState {
+                    machine_identification_unique: Some(
+                        machine.get_machine_identification_unique(),
+                    ),
+                    is_available: true,
+                };
+            }
+        }
+
+        MachineCrossConnectionState {
+            machine_identification_unique: None,
+            is_available: false,
+        }
+    }
+}
@@ -12,7 +12,7 @@ pub struct MachineIdentificationUnique {

 impl MachineIdentificationUnique {
    /// Check if values are non-zero
-    pub fn is_valid(&self) -> bool {
+    pub const fn is_valid(&self) -> bool {
        self.machine_identification.is_valid() && self.serial != 0
    }
 }
@@ -36,12 +36,12 @@ pub struct MachineIdentification {

 impl MachineIdentification {
    /// Check if values are non-zero
-    pub fn is_valid(&self) -> bool {
+    pub const fn is_valid(&self) -> bool {
        self.vendor != 0 && self.machine != 0
    }
 }

-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
 pub struct DeviceMachineIdentification {
    pub machine_identification_unique: MachineIdentificationUnique,
    pub role: u16,
@@ -49,7 +49,7 @@ pub struct DeviceMachineIdentification {

 impl DeviceMachineIdentification {
    /// Check if values are non-zero
-    pub fn is_valid(&self) -> bool {
+    pub const fn is_valid(&self) -> bool {
        self.machine_identification_unique.is_valid()
            && self
                .machine_identification_unique
@@ -59,7 +59,7 @@ impl DeviceMachineIdentification {
    }
 }

-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
 pub struct DeviceIdentification {
    pub device_machine_identification: Option<DeviceMachineIdentification>,
    pub device_hardware_identification: DeviceHardwareIdentification,
@@ -67,14 +67,14 @@ pub struct DeviceIdentification {

 impl From<DeviceIdentificationIdentified> for DeviceIdentification {
    fn from(value: DeviceIdentificationIdentified) -> Self {
-        DeviceIdentification {
+        Self {
            device_machine_identification: Some(value.device_machine_identification),
            device_hardware_identification: value.device_hardware_identification,
        }
    }
 }

-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
 pub struct DeviceIdentificationIdentified {
    pub device_machine_identification: DeviceMachineIdentification,
    pub device_hardware_identification: DeviceHardwareIdentification,
@@ -90,24 +90,24 @@ impl TryFrom<DeviceIdentification> for DeviceIdentificationIdentified {
                module_path!()
            ))?;

-        Ok(DeviceIdentificationIdentified {
+        Ok(Self {
            device_machine_identification,
            device_hardware_identification: value.device_hardware_identification,
        })
    }
 }

-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
 pub enum DeviceHardwareIdentification {
    Ethercat(DeviceHardwareIdentificationEthercat),
    Serial(DeviceHardwareIdentificationSerial),
 }

-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
 pub struct DeviceHardwareIdentificationEthercat {
    pub subdevice_index: usize,
 }
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
 pub struct DeviceHardwareIdentificationSerial {
    pub path: String,
 }
@@ -1,3 +1,9 @@
+use super::{
+    Machine,
+    identification::{DeviceIdentification, DeviceIdentificationIdentified},
+    new::MachineNewHardwareSerial,
+    registry::MachineRegistry,
+};
 use smol::{
    channel::Sender,
    lock::{Mutex, RwLock},
@@ -6,26 +12,30 @@ use socketioxide::extract::SocketRef;

 use crate::{
    machines::{
+        connection::{
+            MachineConnection, MachineConnectionGeneric, MachineSlot, MachineSlotGeneric,
+        },
        identification::MachineIdentificationUnique,
        new::{MachineNewHardware, MachineNewHardwareEthercat, MachineNewParams},
    },
    serial::SerialDevice,
    socketio::event::GenericEvent,
 };
-use std::{collections::HashMap, sync::Arc};
-
-use super::{
-    Machine,
-    identification::{DeviceIdentification, DeviceIdentificationIdentified},
-    new::MachineNewHardwareSerial,
-    registry::MachineRegistry,
+use std::{
+    collections::HashMap,
+    sync::{Arc, Weak},
 };
+
 #[derive(Debug)]
 pub struct MachineManager {
-    pub ethercat_machines:
-        HashMap<MachineIdentificationUnique, Result<Box<Mutex<dyn Machine>>, anyhow::Error>>,
-    pub serial_machines:
-        HashMap<MachineIdentificationUnique, Result<Box<Mutex<dyn Machine>>, anyhow::Error>>,
+    pub ethercat_machines: HashMap<MachineIdentificationUnique, Arc<Mutex<MachineSlotGeneric>>>,
+    pub serial_machines: HashMap<MachineIdentificationUnique, Arc<Mutex<MachineSlotGeneric>>>,
+}
+
+impl Default for MachineManager {
+    fn default() -> Self {
+        Self::new()
+    }
 }

 impl MachineManager {
@@ -42,10 +52,8 @@ impl MachineManager {
        machine_registry: &MachineRegistry,
        hardware: &MachineNewHardwareEthercat,
        socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
+        machine_manager: Weak<RwLock<Self>>,
    ) {
-        // empty ethercat machines
-        self.ethercat_machines.clear();
-
        // group devices by machine device identification
        let device_grouping_result = group_devices_by_identification(device_identifications);

@@ -59,33 +67,59 @@ impl MachineManager {
        // iterate over all identified device groups but ignore unaffected machines
        for device_group in device_grouping_result.device_groups.iter() {
            // get the machine identification
-            let machine_identification = match device_group.first() {
-                Some(device_identification) => &device_identification.device_machine_identification,
-                None => continue, // Skip this group if empty
-            };
+            let machine_identification_unique: MachineIdentificationUnique =
+                match device_group.first() {
+                    Some(device_identification) => device_identification
+                        .device_machine_identification
+                        .machine_identification_unique
+                        .clone(),
+                    None => continue, // Skip this group if empty
+                };
+
+            let slot =
+                self.get_or_create_slot(socket_queue_tx.clone(), machine_identification_unique);
+            let mut slot = slot.lock_blocking();

            // create the machine
            let new_machine = machine_registry.new_machine(&MachineNewParams {
                device_group,
                hardware: &machine_new_hardware,
                socket_queue_tx: socket_queue_tx.clone(),
+                machine_manager: machine_manager.clone(),
+                namespace: slot.namespace.clone(),
            });

-            // insert the machine into the ethercat machines map
-            self.ethercat_machines.insert(
-                machine_identification.machine_identification_unique.clone(),
-                new_machine,
-            );
+            slot.machine_connection = match new_machine {
+                Err(err) => MachineConnectionGeneric::Error(err),
+                Ok(machine) => MachineConnectionGeneric::Connected(machine),
+            };
        }
    }

+    fn get_or_create_slot(
+        &mut self,
+        socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
+        machine_identification: MachineIdentificationUnique,
+    ) -> Arc<Mutex<MachineSlotGeneric>> {
+        if let Some(slot) = self.get(&machine_identification) {
+            return slot;
+        }
+
+        let slot = Arc::new(Mutex::new(MachineSlot::new(socket_queue_tx)));
+        self.ethercat_machines
+            .insert(machine_identification, slot.clone());
+
+        return slot;
+    }
+
    pub fn get(
        &self,
        machine_identification: &MachineIdentificationUnique,
-    ) -> Option<&Result<Box<Mutex<dyn Machine>>, anyhow::Error>> {
+    ) -> Option<Arc<Mutex<MachineSlotGeneric>>> {
        self.ethercat_machines
            .get(machine_identification)
            .or_else(|| self.serial_machines.get(machine_identification))
+            .map(|x| x.clone())
    }

    pub fn add_serial_device(
@@ -94,6 +128,7 @@ impl MachineManager {
        device: Arc<RwLock<dyn SerialDevice>>,
        machine_registry: &MachineRegistry,
        socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
+        machine_manager: Weak<RwLock<Self>>,
    ) {
        let hardware = MachineNewHardwareSerial { device };

@@ -103,20 +138,28 @@ impl MachineManager {
                .try_into()
                .expect("Serial devices always have machine identification");

+        let machine_identification: MachineIdentificationUnique = device_identification_identified
+            .device_machine_identification
+            .machine_identification_unique
+            .clone();
+
+        let slot = self.get_or_create_slot(socket_queue_tx.clone(), machine_identification);
+        let mut slot = slot.lock_blocking();
+
        let new_machine = machine_registry.new_machine(&MachineNewParams {
            device_group: &vec![device_identification_identified.clone()],
            hardware: &MachineNewHardware::Serial(&hardware),
            socket_queue_tx,
+            machine_manager: machine_manager.clone(),
+            namespace: slot.namespace.clone(),
        });

-        tracing::info!("Adding serial machine {:?}", new_machine);
+        slot.machine_connection = match new_machine {
+            Err(err) => MachineConnectionGeneric::Error(err),
+            Ok(machine) => MachineConnectionGeneric::Connected(machine),
+        };

-        self.serial_machines.insert(
-            device_identification_identified
-                .device_machine_identification
-                .machine_identification_unique,
-            new_machine,
-        );
+        tracing::info!("Adding serial machine {:?}", slot);
    }

    pub fn remove_serial_device(&mut self, device_identification: &DeviceIdentification) {
@@ -131,11 +174,45 @@ impl MachineManager {
            device_identification_identified
        );

-        self.serial_machines.remove(
-            &device_identification_identified
-                .device_machine_identification
-                .machine_identification_unique,
-        );
+        let machine_identification_unique = &device_identification_identified
+            .device_machine_identification
+            .machine_identification_unique;
+
+        if let Some(slot) = self.serial_machines.get(machine_identification_unique) {
+            let mut slot = slot.lock_blocking();
+            slot.machine_connection = MachineConnection::Disconnected;
+        }
+    }
+
+    pub fn get_ethercat_weak(
+        &self,
+        machine_identification: &MachineIdentificationUnique,
+    ) -> Option<Weak<Mutex<dyn Machine>>> {
+        self.get_weak(&self.ethercat_machines, machine_identification)
+    }
+
+    pub fn get_serial_weak(
+        &self,
+        machine_identification: &MachineIdentificationUnique,
+    ) -> Option<Weak<Mutex<dyn Machine>>> {
+        self.get_weak(&self.serial_machines, machine_identification)
+    }
+
+    fn get_weak(
+        &self,
+        machines: &HashMap<MachineIdentificationUnique, Arc<Mutex<MachineSlotGeneric>>>,
+        machine_identification: &MachineIdentificationUnique,
+    ) -> Option<Weak<Mutex<dyn Machine>>> {
+        let slot = machines.get(machine_identification).clone();
+
+        return slot.and_then(|slot| {
+            let connection = &slot.lock_blocking().machine_connection;
+            match connection {
+                MachineConnectionGeneric::Error(_) => None,
+                MachineConnectionGeneric::Disconnected => None,
+                MachineConnectionGeneric::Connected(machine) => Some(Arc::downgrade(&machine)),
+            }
+        });
    }
 }

@@ -1,22 +1,25 @@
 use std::collections::HashMap;
+use std::sync::Arc;

 use smol::lock::Mutex;

-use super::{Machine, identification::MachineIdentificationUnique, manager::MachineManager};
+use crate::machines::connection::MachineSlotGeneric;
+
+use super::{identification::MachineIdentificationUnique, manager::MachineManager};

 pub enum MachineManagerIter<'a> {
    EthercatMachines {
        iter: std::collections::hash_map::Iter<
            'a,
            MachineIdentificationUnique,
-            Result<Box<Mutex<dyn Machine>>, anyhow::Error>,
+            Arc<Mutex<MachineSlotGeneric>>,
        >,
    },
    SerialMachines {
        iter: std::collections::hash_map::Iter<
            'a,
            MachineIdentificationUnique,
-            Result<Box<Mutex<dyn Machine>>, anyhow::Error>,
+            Arc<Mutex<MachineSlotGeneric>>,
        >,
    },
    Done,
@@ -24,14 +27,13 @@ pub enum MachineManagerIter<'a> {

 pub struct MachineManagerIterator<'a> {
    iter: MachineManagerIter<'a>,
-    serial_machines:
-        &'a HashMap<MachineIdentificationUnique, Result<Box<Mutex<dyn Machine>>, anyhow::Error>>,
+    serial_machines: &'a HashMap<MachineIdentificationUnique, Arc<Mutex<MachineSlotGeneric>>>,
 }

 impl<'a> Iterator for MachineManagerIterator<'a> {
    type Item = (
        &'a MachineIdentificationUnique,
-        &'a Result<Box<Mutex<dyn Machine>>, anyhow::Error>,
+        &'a Arc<Mutex<MachineSlotGeneric>>,
    );

    fn next(&mut self) -> Option<Self::Item> {
@@ -71,7 +73,7 @@ impl<'a> Iterator for MachineManagerIterator<'a> {

 impl MachineManager {
    // Returns an iterator over all machines (both ethercat and serial)
-    pub fn iter(&self) -> MachineManagerIterator {
+    pub fn iter(&self) -> MachineManagerIterator<'_> {
        MachineManagerIterator {
            iter: MachineManagerIter::EthercatMachines {
                iter: self.ethercat_machines.iter(),
@@ -1,13 +1,23 @@
-use crate::actors::Actor;
-use api::MachineApi;
 use new::MachineNewTrait;
 use std::any::Any;
 use std::fmt::Debug;
+
+use crate::machines::{
+    api::MachineApi, identification::MachineIdentificationUnique, new::MachineAct,
+};
 pub mod api;
+pub mod connection;
 pub mod identification;
 pub mod manager;
 pub mod manager_iter;
 pub mod new;
 pub mod registry;

-pub trait Machine: MachineNewTrait + MachineApi + Actor + Any + Debug {}
+pub trait Machine: MachineAct + MachineNewTrait + MachineApi + Any + Debug + Send + Sync {
+    fn get_machine_identification_unique(&self) -> MachineIdentificationUnique;
+}
+
+pub trait AnyGetters: Any {
+    fn as_any(&self) -> &dyn Any;
+    fn as_any_mut(&mut self) -> &mut dyn Any;
+}
@@ -1,4 +1,8 @@
-use crate::serial::SerialDevice;
+use crate::{
+    machines::{identification::MachineIdentificationUnique, manager::MachineManager},
+    serial::SerialDevice,
+    socketio::namespace::Namespace,
+};

 use super::identification::DeviceIdentificationIdentified;
 use anyhow::Error;
@@ -6,20 +10,28 @@ use ethercat_hal::{
    devices::EthercatDevice, helpers::ethercrab_types::EthercrabSubDevicePreoperational,
 };
 use ethercrab::{SubDevice, SubDeviceRef};
-use smol::{channel::Sender, lock::RwLock};
+use smol::{
+    channel::Sender,
+    lock::{Mutex, RwLock},
+};
 use socketioxide::extract::SocketRef;
-use std::sync::Arc;
+use std::{
+    sync::{Arc, Weak},
+    time::Instant,
+};

 use crate::socketio::event::GenericEvent;

 pub trait MachineNewTrait {
-    fn new<'maindevice, 'subdevices>(
-        params: &MachineNewParams<'maindevice, 'subdevices, '_, '_, '_, '_, '_>,
-    ) -> Result<Self, Error>
+    fn new(params: &MachineNewParams<'_, '_, '_, '_, '_, '_, '_>) -> Result<Self, Error>
    where
        Self: Sized;
 }

+pub trait MachineAct {
+    fn act(&mut self, now: Instant);
+}
+
 pub struct MachineNewParams<
    'maindevice,
    'subdevices,
@@ -43,6 +55,20 @@ pub struct MachineNewParams<
        'machine_new_hardware_serial,
    >,
    pub socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
+    pub machine_manager: Weak<RwLock<MachineManager>>,
+
+    pub namespace: Arc<Mutex<Namespace>>,
+}
+
+impl MachineNewParams<'_, '_, '_, '_, '_, '_, '_> {
+    pub fn get_machine_identification_unique(&self) -> MachineIdentificationUnique {
+        self.device_group
+            .first()
+            .expect("device group must have at least one device")
+            .device_machine_identification
+            .machine_identification_unique
+            .clone()
+    }
 }

 pub enum MachineNewHardware<
@@ -1,15 +1,21 @@
 use super::{Machine, identification::MachineIdentification, new::MachineNewParams};
 use anyhow::Error;
 use smol::lock::Mutex;
-use std::{any::TypeId, collections::HashMap};
+use std::{any::TypeId, collections::HashMap, sync::Arc};

 pub type MachineNewClosure =
-    Box<dyn Fn(&MachineNewParams) -> Result<Box<Mutex<dyn Machine>>, Error> + Send + Sync>;
+    Box<dyn Fn(&MachineNewParams) -> Result<Arc<Mutex<dyn Machine>>, Error> + Send + Sync>;

 pub struct MachineRegistry {
    type_map: HashMap<TypeId, (MachineIdentification, MachineNewClosure)>,
 }

+impl Default for MachineRegistry {
+    fn default() -> Self {
+        Self::new()
+    }
+}
+
 impl MachineRegistry {
    pub fn new() -> Self {
        Self {
@@ -24,10 +30,10 @@ impl MachineRegistry {
        self.type_map.insert(
            TypeId::of::<T>(),
            (
-                machine_identficiation,
+                machine_identficiation.clone(),
                // create a machine construction closure
                Box::new(|machine_new_params| {
-                    Ok(Box::new(Mutex::new(T::new(machine_new_params)?)))
+                    Ok(Arc::new(Mutex::new(T::new(machine_new_params)?)))
                }),
            ),
        );
@@ -36,7 +42,7 @@ impl MachineRegistry {
    pub fn new_machine(
        &self,
        machine_new_params: &MachineNewParams,
-    ) -> Result<Box<Mutex<dyn Machine>>, anyhow::Error> {
+    ) -> Result<Arc<Mutex<dyn Machine>>, anyhow::Error> {
        // get machiine identification
        let device_identification =
            &machine_new_params
@@ -1,9 +1,11 @@
+pub mod modbus_serial_interface;
+
 use anyhow::Error;
 use crc::{CRC_16_MODBUS, Crc};
-use serial;
+use serialport::SerialPort;
 use std::time::Duration;
-#[derive(Debug, Clone, Copy, PartialEq, Eq)]

+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub enum ParityType {
    Even,
    Odd,
@@ -60,17 +62,17 @@ impl From<ModbusExceptionCode> for u8 {
 impl From<u8> for ModbusExceptionCode {
    fn from(value: u8) -> Self {
        match value {
-            0 => ModbusExceptionCode::None,
-            1 => ModbusExceptionCode::IllegalFunction,
-            2 => ModbusExceptionCode::IllegalDataAddress,
-            3 => ModbusExceptionCode::IllegalDataValue,
-            4 => ModbusExceptionCode::SlaveDeviceFailure,
-            5 => ModbusExceptionCode::Acknowledge,
-            6 => ModbusExceptionCode::SlaveDeviceBusy,
-            8 => ModbusExceptionCode::MemoryParityError,
-            10 => ModbusExceptionCode::GatewayPathUnavailable,
-            11 => ModbusExceptionCode::GatewayTargetDeviceFailedToRespond,
-            other => ModbusExceptionCode::Unknown(other),
+            0 => Self::None,
+            1 => Self::IllegalFunction,
+            2 => Self::IllegalDataAddress,
+            3 => Self::IllegalDataValue,
+            4 => Self::SlaveDeviceFailure,
+            5 => Self::Acknowledge,
+            6 => Self::SlaveDeviceBusy,
+            8 => Self::MemoryParityError,
+            10 => Self::GatewayPathUnavailable,
+            11 => Self::GatewayTargetDeviceFailedToRespond,
+            other => Self::Unknown(other),
        }
    }
 }
@@ -95,10 +97,10 @@ impl TryFrom<u8> for ModbusFunctionCode {

    fn try_from(value: u8) -> Result<Self, Self::Error> {
        match value {
-            0x03 => Ok(ModbusFunctionCode::ReadHoldingRegister),
-            0x04 => Ok(ModbusFunctionCode::ReadInputRegister),
-            0x06 => Ok(ModbusFunctionCode::PresetHoldingRegister),
-            0x08 => Ok(ModbusFunctionCode::DiagnoseFunction),
+            0x03 => Ok(Self::ReadHoldingRegister),
+            0x04 => Ok(Self::ReadInputRegister),
+            0x06 => Ok(Self::PresetHoldingRegister),
+            0x08 => Ok(Self::DiagnoseFunction),
            _ => Err(anyhow::anyhow!("Error: Modbus Function Code doesnt exist!")),
        }
    }
@@ -117,7 +119,7 @@ impl From<ModbusFunctionCode> for u8 {

 impl From<ModbusRequest> for Vec<u8> {
    fn from(request: ModbusRequest) -> Self {
-        let mut buffer = Vec::new();
+        let mut buffer = Self::new();

        buffer.push(request.slave_id);
        buffer.push(request.function_code.into()); // convert functioncode into u8 and push it
@@ -130,7 +132,7 @@ impl From<ModbusRequest> for Vec<u8> {
        // convert u16 value to le_bytes and add it to the end of the frame
        buffer.extend_from_slice(&result_crc.to_le_bytes());

-        return buffer;
+        buffer
    }
 }
 /// Reads data from a Modbus device via a serial port.
@@ -141,9 +143,7 @@ impl From<ModbusRequest> for Vec<u8> {
 /// # Returns
 /// A `Result` containing an `Option` with the raw Modbus response as a `Vec<u8>` if successful,
 /// or `None` if the response is invalid or an error occurs.
-pub fn receive_data_modbus(
-    port: &mut dyn serial::SerialPort,
-) -> Result<Option<Vec<u8>>, anyhow::Error> {
+pub fn receive_data_modbus(port: &mut dyn SerialPort) -> Result<Option<Vec<u8>>, anyhow::Error> {
    let mut buf: [u8; 256] = [0; 256];
    let data_length = port.read(&mut buf)?;
    if data_length == 0 {
@@ -153,7 +153,7 @@ pub fn receive_data_modbus(
 }

 /// Computes Modbus CRC-16 using `crc` crate.
-pub fn modbus_crc16(data: &[u8]) -> u16 {
+pub const fn modbus_crc16(data: &[u8]) -> u16 {
    let modbus: Crc<u16> = Crc::<u16>::new(&CRC_16_MODBUS);
    modbus.checksum(data)
 }
@@ -204,23 +204,17 @@ fn extract_crc(raw_data: &Vec<u8>) -> Result<u16, Error> {
 }
 impl TryFrom<Vec<u8>> for ModbusResponse {
    type Error = anyhow::Error;
-    fn try_from(value: Vec<u8>) -> Result<ModbusResponse, Error> {
-        let crc = match extract_crc(&value) {
-            Ok(crc_value) => crc_value,
-            Err(err) => return Err(err),
-        };
+    fn try_from(value: Vec<u8>) -> Result<Self, Error> {
+        let crc = extract_crc(&value)?;

        let function_code_res = ModbusFunctionCode::try_from(value[1]);
-        let function_code = match function_code_res {
-            Ok(code) => code,
-            Err(err) => return Err(err),
-        };
+        let function_code = function_code_res?;

-        Ok(ModbusResponse {
+        Ok(Self {
            slave_id: value[0],
-            function_code: function_code,
+            function_code,
            data: value[2..value.len() - 2].to_vec(), // get data without the crc
-            crc: crc,
+            crc,
        })
    }
 }
@@ -232,23 +226,23 @@ impl TryFrom<Vec<u8>> for ModbusResponse {
 /// machine_operation_delay_nano: Delay for the given operation in nanoseconds as specified by the slaves datasheet (example: mitsubishi csfr84 has 12ms for read write in RAM)
 /// baudrate: bits per second
 /// message_size: size of original message in bytes
-pub fn calculate_modbus_rtu_timeout(
+pub const fn calculate_modbus_rtu_timeout(
    bits: u8,
    machine_operation_delay_nano: Duration,
    baudrate: u32,
    message_size: usize,
 ) -> Duration {
    let nanoseconds_per_bit: u64 = (1000000 / baudrate) as u64;
-    let nanoseconds_per_byte: u64 = bits as u64 * nanoseconds_per_bit as u64;
+    let nanoseconds_per_byte: u64 = bits as u64 * nanoseconds_per_bit;

    let transmission_timeout: u64 = nanoseconds_per_byte * message_size as u64;
-    let silent_time: u64 = (nanoseconds_per_byte * (35)) / 10 as u64; // silent_time is 3.5x of character length,which is 11 bit for 8E1
+    let silent_time: u64 = (nanoseconds_per_byte * (35)) / 10_u64; // silent_time is 3.5x of character length,which is 11 bit for 8E1

    let mut full_timeout: u64 = transmission_timeout;
    full_timeout += machine_operation_delay_nano.as_nanos() as u64;
    full_timeout += silent_time;

-    return Duration::from_nanos(full_timeout);
+    Duration::from_nanos(full_timeout)
 }

 #[cfg(test)]
@@ -0,0 +1,268 @@
+use crate::modbus::{ModbusRequest, ModbusResponse};
+use ethercat_hal::io::serial_interface::{SerialEncoding, SerialInterface};
+use std::{
+    collections::HashMap,
+    time::{Duration, Instant},
+};
+
+#[derive(Debug, Clone)]
+struct RequestMetaData {
+    priority: u32,
+    ignored_times: u32,
+    /// This is used when a machine for example takes 4ms to process the request
+    /// and is added ontop of the standard waiting time for a serial transfer
+    extra_delay: Option<u32>,
+    no_response_expected: bool,
+}
+
+#[derive(Debug)]
+pub enum State {
+    /// WaitingForResponse is set after sending a request through the serial_interface
+    WaitingForResponse,
+    /// After Sending a Request we need to wait atleast one ethercat cycle
+    /// After one Cycle we check if el6021 status has transmit accepted toggled
+    /// Then we can set state = ReadyToSend
+    WaitingForRequestAccept,
+    /// After Receiving a Response we need to wait atleast one ethercat cycle
+    /// After one Cycle we check if el6021 status has received accepted toggled
+    WaitingForReceiveAccept,
+    /// ReadyToSend is set after receiving the response from the serial_interface
+    ReadyToSend,
+    /// Initial State
+    Uninitialized,
+}
+
+#[derive(Debug)]
+pub struct ModbusSerialInterface {
+    serial_interface: SerialInterface,
+    baudrate: Option<u32>,
+    encoding: Option<SerialEncoding>,
+    response: Option<ModbusResponse>,
+    state: State,
+    last_message_size: usize,
+    last_message_delay: u32,
+    pub last_message_id: u32,
+    no_response_expected: bool,
+    request_map: HashMap<u32, ModbusRequest>,
+    request_metadata_map: HashMap<u32, RequestMetaData>,
+    last_ts: Instant,
+}
+
+impl ModbusSerialInterface {
+    pub fn new(serial_interface: SerialInterface) -> Self {
+        Self {
+            serial_interface,
+            baudrate: None,
+            encoding: None,
+            request_map: HashMap::new(),
+            request_metadata_map: HashMap::new(),
+            response: None,
+            last_message_size: 0,
+            last_message_delay: 0,
+            state: State::Uninitialized,
+            last_ts: Instant::now(),
+            last_message_id: 0,
+            no_response_expected: false,
+        }
+    }
+
+    pub const fn is_initialized(&self) -> bool {
+        !matches!(self.state, State::Uninitialized)
+    }
+
+    pub fn add_request(
+        &mut self,
+        request_id: u32,
+        priority: u32,
+        request: ModbusRequest,
+        no_response_expected: bool,
+        delay: Option<u32>,
+    ) {
+        self.request_map.insert(request_id, request);
+        self.request_metadata_map
+            .entry(request_id)
+            .or_insert_with(|| RequestMetaData {
+                priority,
+                ignored_times: 0,
+                extra_delay: delay,
+                no_response_expected,
+            });
+    }
+
+    /// This is used internally to read the receive buffer of the el6021
+    async fn read_modbus_response(&mut self) -> Result<ModbusResponse, anyhow::Error> {
+        let raw_response = (self.serial_interface.read_message)()
+            .await
+            .unwrap_or_default();
+
+        let response = ModbusResponse::try_from(raw_response)?;
+        self.last_message_size = response.data.len() + 4;
+        self.state = State::WaitingForReceiveAccept;
+        Ok(response)
+    }
+
+    /// This is used internally to fill the write buffer of the el6021 with the modbus request
+    /// Decides what requests to send first by finding the one with the highest priority
+    /// For example Highest Priority requests: ResetInverter StopMotor
+    async fn send_modbus_request(&mut self) {
+        if self.request_map.is_empty() {
+            return;
+        }
+
+        let (highest_id, delay, no_response_expected) = self
+            .request_metadata_map
+            .iter_mut()
+            .map(|(key, value)| {
+                let effective_priority = value.priority + value.ignored_times;
+                (
+                    *key,
+                    effective_priority,
+                    value.extra_delay.unwrap_or(0),
+                    value.no_response_expected,
+                )
+            })
+            .max_by_key(|(_, priority, _, _)| *priority)
+            .map(|(key, _, delay, no_response)| (key, delay, no_response))
+            .unwrap(); // Safe because we checked is_empty() above
+
+        let request = &self.request_map[&highest_id];
+        let modbus_request: Vec<u8> = request.clone().into();
+
+        if let Err(_) = (self.serial_interface.write_message)(modbus_request.clone()).await {
+            tracing::error!("ERROR: serial_interface.write_message has failed");
+        } else {
+            self.last_message_delay = delay;
+            self.last_message_id = highest_id;
+            self.no_response_expected = no_response_expected;
+        }
+
+        self.state = State::WaitingForRequestAccept;
+        self.last_message_size = modbus_request.len();
+    }
+
+    pub async fn initialize_communication_settings(&mut self) -> bool {
+        let baudrate = (self.serial_interface.get_baudrate)().await;
+        let encoding = (self.serial_interface.get_serial_encoding)().await;
+
+        match (baudrate, encoding) {
+            (Some(b), Some(e)) => {
+                self.baudrate = Some(b);
+                self.encoding = Some(e);
+                true
+            }
+            _ => false,
+        }
+    }
+
+    pub async fn initialize(&mut self) -> bool {
+        if matches!(self.state, State::Uninitialized) {
+            let success = (self.serial_interface.initialize)().await;
+            if success {
+                self.state = State::ReadyToSend;
+                self.initialize_communication_settings().await;
+            }
+            success
+        } else {
+            false
+        }
+    }
+
+    fn increment_ignored_times(&mut self) {
+        for metadata in self.request_metadata_map.values_mut() {
+            metadata.ignored_times += 1;
+        }
+    }
+
+    /// Modbus RTU has silent time between frames that needs to be adhered to, if you send before silent_time is over between frames, then there will be lost frames
+    /// This silent time is needed to identify the start and end of messages
+    /// This function also takes into account the time that the slave we are talking to needs to process our request
+    /// bits: amount of bits sent per byte -> for a 8n1 coding: 8 data bits, 0 parity, 1 stop bit (1 start,1 stop) -> 10 bits
+    /// machine_operation_delay_nano: Delay for the given operation in nanoseconds as specified by the slaves datasheet (example: mitsubishi csfr84 has 12ms for read write in RAM)
+    /// baudrate: bits per second
+    /// message_size: size of original message in bytes
+    pub fn calculate_modbus_rtu_timeout(
+        &self,
+        machine_operation_delay: Duration,
+        message_size: usize,
+    ) -> Option<Duration> {
+        let baudrate = self.baudrate?;
+        let encoding = self.encoding?;
+
+        let nanoseconds_per_bit = 1_000_000_000 / baudrate as u64;
+        let nanoseconds_per_byte = encoding.total_bits() as u64 * nanoseconds_per_bit;
+
+        let transmission_timeout = nanoseconds_per_byte * message_size as u64;
+        let silent_time = (nanoseconds_per_byte * 35) / 10; // silent_time is 3.5x of character length
+
+        let total_timeout =
+            transmission_timeout + machine_operation_delay.as_nanos() as u64 + silent_time;
+        Some(Duration::from_nanos(total_timeout))
+    }
+
+    pub const fn get_response(&self) -> Option<&ModbusResponse> {
+        self.response.as_ref()
+    }
+
+    pub async fn act(&mut self, now_ts: Instant) {
+        let elapsed = now_ts.duration_since(self.last_ts);
+
+        let timeout = self.calculate_modbus_rtu_timeout(
+            Duration::from_nanos(self.last_message_delay as u64),
+            self.last_message_size,
+        );
+
+        let Some(timeout) = timeout else { return };
+
+        // Check if we need to wait for timeout (except for specific states)
+        if !matches!(
+            self.state,
+            State::Uninitialized | State::WaitingForReceiveAccept | State::WaitingForRequestAccept
+        ) && elapsed < timeout
+        {
+            return;
+        }
+
+        self.last_ts = now_ts;
+        self.response = None;
+
+        match self.state {
+            State::WaitingForResponse => match self.read_modbus_response().await {
+                Ok(response) => {
+                    self.response = Some(response);
+                }
+                Err(_) => {
+                    self.response = None;
+                    if self.no_response_expected {
+                        self.state = State::ReadyToSend;
+                    }
+                }
+            },
+            State::ReadyToSend => {
+                self.send_modbus_request().await;
+
+                // Remove the sent request
+                self.request_map.remove(&self.last_message_id);
+                self.request_metadata_map.remove(&self.last_message_id);
+                self.increment_ignored_times();
+            }
+            State::WaitingForReceiveAccept => {
+                // Waste at least one Ethercat Cycle here to ensure that request/response stay in sync
+                self.state = State::ReadyToSend;
+            }
+            State::WaitingForRequestAccept => {
+                // An empty vec is used to check if we are finished with writing the message
+                // This is to keep the Serialinterface more simple
+                match (self.serial_interface.write_message)(vec![]).await {
+                    Ok(finished) if finished => {
+                        self.state = State::WaitingForResponse;
+                    }
+                    Err(_) => {
+                        self.state = State::ReadyToSend;
+                    }
+                    _ => {} // Still waiting
+                }
+            }
+            State::Uninitialized => {}
+        }
+    }
+}
@@ -0,0 +1,178 @@
+use tracing::debug;
+use tracing::error;
+
+#[cfg(target_os = "linux")]
+/// Makes the current thread a real-time thread using the PREEMPT_RT capabilities of Linux.
+///
+/// This function configures the current thread with real-time scheduling properties by:
+///
+/// 1. Setting the scheduling policy to SCHED_FIFO (First-In-First-Out), which is a real-time
+///    scheduling policy that allows the thread to run until it voluntarily yields, blocks on I/O,
+///    or is preempted by a higher-priority real-time thread.
+///
+/// 2. Setting the real-time priority to 80 (on a scale of 1-99, where higher values indicate
+///    higher priority). This priority level is chosen to be higher than most IRQ handlers
+///    (typically priority 50) but lower than critical kernel tasks (priority 99).
+///
+/// When running on a PREEMPT_RT patched Linux kernel, this combination provides deterministic
+/// scheduling with minimal latency, which is essential for real-time applications.
+///
+/// # Requirements
+///
+/// - The program must run with appropriate permissions to set real-time priorities.
+///   This typically means either:
+///   - Running as root
+///   - Configuring `/etc/security/limits.conf` to allow the user to set real-time priorities
+///
+/// - The system should be running a Linux kernel with PREEMPT_RT patch applied for
+///   optimal real-time performance.
+///
+/// # Example
+///
+/// ```ignore
+/// fn main() {
+///     // Lock memory to prevent page faults
+///     lock_memory();
+///     
+///     // Create a thread and make it real-time
+///     std::thread::spawn(|| {
+///         set_realtime_priority();
+///         
+///         // Real-time code here
+///     });
+/// }
+/// ```
+///
+/// # Returns
+///
+/// - `Ok(())` if the real-time priority was successfully set
+/// - `Err` with the error message if setting the priority failed
+#[cfg(target_os = "linux")]
+pub fn set_realtime_priority() -> Result<(), anyhow::Error> {
+    use anyhow::anyhow;
+    use libc::{SCHED_FIFO, pthread_setschedparam, sched_param};
+    use std::mem;
+
+    unsafe {
+        // Get the pthread_t of the current thread using pthread_self()
+        let pthread_self = libc::pthread_self();
+
+        // Set up the scheduling parameters
+        let mut param: sched_param = mem::zeroed();
+        param.sched_priority = 95;
+
+        // Set the thread to use SCHED_FIFO scheduling policy with our priority
+        let result = pthread_setschedparam(pthread_self, SCHED_FIFO, &param);
+
+        if result != 0 {
+            error!(
+                "Failed to set real-time scheduling policy for thread \"{:?}\": {}",
+                std::thread::current().name().unwrap_or("unknown"),
+                std::io::Error::last_os_error()
+            );
+            return Err(anyhow!(
+                "Failed to set real-time priority: {}",
+                std::io::Error::last_os_error()
+            ));
+        } else {
+            debug!(
+                "Successfully set real-time priority for the thread \"{:?}\"",
+                std::thread::current().name().unwrap_or("unknown")
+            );
+        }
+    }
+    Ok(())
+}
+
+#[cfg(not(target_os = "linux"))]
+pub fn set_realtime_priority() -> Result<(), anyhow::Error> {
+    tracing::error!("This platform does not support realtime threads");
+    Ok(())
+}
+
+/// Locks all current and future memory pages of the process into RAM to prevent page faults.
+///
+/// # When to call this function
+///
+/// This function should be called from the main thread, as early as possible in your program's
+/// execution, ideally before creating any threads and before allocating large amounts of memory.
+///
+/// Important: You only need to call this function ONCE per process, not in each thread.
+/// The memory locking applies to the entire process, including:
+/// - The main thread
+/// - All threads created after the call
+///
+/// This happens because all threads in a process share the same virtual memory space, and
+/// `mlockall()` operates on the entire process's memory space, not just the calling thread.
+///
+/// # Example: Correct usage
+///
+/// ```ignore
+/// fn main() -> Result<(), Box<dyn std::error::Error>> {
+///     // Call early in main, before creating threads
+///     lock_memory()?;
+///     
+///     // Now create real-time threads...
+///     std::thread::spawn(|| {
+///         set_realtime_priority();
+///         // Real-time code here
+///     });
+///     
+///     Ok(())
+/// }
+/// ```
+///
+/// # Example: Incorrect usage
+///
+/// ```ignore
+/// fn main() {
+///     // Don't do this - calling in each thread is unnecessary
+///     std::thread::spawn(|| {
+///         lock_memory().unwrap(); // Redundant if already called in main
+///         set_realtime_priority();
+///     });
+/// }
+/// ```
+///
+/// # How it works
+///
+/// [Rest of documentation as before...]
+#[cfg(target_os = "linux")]
+pub fn lock_memory() -> Result<(), Box<dyn std::error::Error>> {
+    use libc::{MCL_FUTURE, mlockall};
+
+    unsafe {
+        if mlockall(MCL_FUTURE) != 0 {
+            error!("Failed to lock memory: {}", std::io::Error::last_os_error());
+            return Err(
+                format!("Failed to lock memory: {}", std::io::Error::last_os_error()).into(),
+            );
+        } else {
+            debug!("Successfully locked memory for the process");
+        }
+    }
+    Ok(())
+}
+
+#[cfg(not(target_os = "linux"))]
+pub fn lock_memory() -> Result<(), Box<dyn std::error::Error>> {
+    tracing::error!("This platform does not support memory locking");
+    Ok(())
+}
+
+pub fn set_core_affinity(core_id: usize) -> Result<(), anyhow::Error> {
+    let cores = core_affinity::get_core_ids().unwrap_or_default();
+    let core = cores.get(core_id);
+    if let Some(core) = core {
+        core_affinity::set_for_current(*core);
+        debug!(
+            "Set core affinity of thread \"{:?}\" to core {:?}",
+            std::thread::current().name().unwrap_or("unknown"),
+            core
+        );
+        Ok(())
+    } else {
+        error!("No cores available to set affinity");
+        Err(anyhow::anyhow!("No cores available to set affinity"))
+    }
+}
@@ -11,13 +11,13 @@ pub struct MutationResponse {
 }

 impl MutationResponse {
-    pub fn success() -> Self {
+    pub const fn success() -> Self {
        Self {
            success: true,
            error: None,
        }
    }
-    pub fn error(error: String) -> Self {
+    pub const fn error(error: String) -> Self {
        Self {
            success: false,
            error: Some(error),
@@ -33,3 +33,19 @@ where
    pub machine_identification_unique: MachineIdentificationUnique,
    pub data: T,
 }
+
+#[derive(Debug, serde::Deserialize)]
+pub struct MachineVideoStreamListBody {
+    pub machine_identification_unique: MachineIdentificationUnique,
+}
+
+#[derive(Debug, serde::Deserialize)]
+pub struct MachineVideoStreamBody {
+    pub machine_identification_unique: MachineIdentificationUnique,
+    pub stream_id: String,
+}
+
+#[derive(Debug, Serialize)]
+pub struct VideoStreamListResponse {
+    pub streams: Vec<String>,
+}
@@ -1,9 +1,11 @@
 use std::{any::Any, sync::Arc};

-use smol::lock::RwLock;
+use smol::{channel::Sender, lock::RwLock};
 use std::fmt::Debug;

-use crate::machines::identification::DeviceIdentification;
+use crate::{
+    machines::identification::DeviceIdentification, serial::serial_detection::SerialDeviceRemoval,
+};

 pub mod panic;
 pub mod registry;
@@ -25,10 +27,10 @@ pub trait SerialDeviceThread {

 pub struct SerialDeviceNewParams {
    pub path: String,
-    pub device_thread_panic_tx: smol::channel::Sender<(String, anyhow::Error)>,
+    pub device_thread_panic_tx: Sender<SerialDeviceRemoval<String>>,
 }

-#[derive(PartialEq, Clone, Debug)]
+#[derive(PartialEq, Eq, Clone, Debug)]
 pub struct SerialDeviceIdentification {
    pub vendor_id: u16,
    pub product_id: u16,
@@ -1,11 +1,13 @@
 use smol::channel::Sender;

+use crate::serial::serial_detection::SerialDeviceRemoval;
+
 /// Device-level panic handler for individual device crashes
 /// Sends device identifier and error information for cleanup
 /// Used by serial devices and other individual components that need to be removed on panic
 pub fn send_serial_device_panic<T>(
    device_identifier: T,
-    thread_panic_tx: Sender<(T, anyhow::Error)>,
+    thread_panic_tx: Sender<SerialDeviceRemoval<T>>,
 ) where
    T: Send + Sync + Clone + 'static,
 {
@@ -16,7 +18,6 @@ pub fn send_serial_device_panic<T>(
        }
    }

-    let device_id_clone = device_identifier.clone();
    std::panic::set_hook(Box::new(move |panic_info| {
        let thread_name = std::thread::current()
            .name()
@@ -39,8 +40,8 @@ pub fn send_serial_device_panic<T>(
        // Send device panic info through channel
        smol::block_on(async {
            let _ = thread_panic_tx
-                .send((
-                    device_id_clone.clone(),
+                .send(SerialDeviceRemoval::Error(
+                    device_identifier.clone(),
                    anyhow::anyhow!("{}", panic_message),
                ))
                .await;
@@ -20,6 +20,12 @@ pub struct SerialDeviceRegistry {
    pub type_map: HashMap<TypeId, (SerialDeviceIdentification, SerialDeviceNewClosure)>,
 }

+impl Default for SerialDeviceRegistry {
+    fn default() -> Self {
+        Self::new()
+    }
+}
+
 impl SerialDeviceRegistry {
    pub fn new() -> Self {
        Self {
@@ -21,6 +21,11 @@ use super::{
    SerialDevice, SerialDeviceIdentification, SerialDeviceNewParams, registry::SerialDeviceRegistry,
 };

+pub enum SerialDeviceRemoval<T> {
+    Disconnect(T),
+    Error(T, anyhow::Error),
+}
+
 pub struct SerialDetection<'serialdeviceregistry> {
    pub serial_device_registry: &'serialdeviceregistry SerialDeviceRegistry,
    pub ports: HashMap<
@@ -31,14 +36,13 @@ pub struct SerialDetection<'serialdeviceregistry> {
            Arc<RwLock<dyn SerialDevice>>,
        ),
    >,
-    pub device_removal_signal_rx: Receiver<(String, anyhow::Error)>,
-    pub device_removal_signal_tx: Sender<(String, anyhow::Error)>,
+    pub device_removal_signal_rx: Receiver<SerialDeviceRemoval<String>>,
+    pub device_removal_signal_tx: Sender<SerialDeviceRemoval<String>>,
 }

 impl<'serialdeviceregistry> SerialDetection<'serialdeviceregistry> {
    pub fn new(serial_device_registry: &'serialdeviceregistry SerialDeviceRegistry) -> Self {
-        let (device_removal_signal_tx, device_removal_signal_rx) =
-            unbounded::<(String, anyhow::Error)>();
+        let (device_removal_signal_tx, device_removal_signal_rx) = unbounded();
        SerialDetection {
            serial_device_registry,
            ports: HashMap::new(),
@@ -78,15 +82,12 @@ impl<'serialdeviceregistry> SerialDetection<'serialdeviceregistry> {
        let mut usb_ports: Vec<(String, UsbPortInfo)> = Vec::new();

        for port in port_list {
-            match &port.port_type {
-                SerialPortType::UsbPort(usb_info) => {
-                    usb_ports.push((port.port_name.to_string(), usb_info.clone()));
-                }
-                _ => {}
+            if let SerialPortType::UsbPort(usb_info) = &port.port_type {
+                usb_ports.push((port.port_name.to_string(), usb_info.clone()));
            };
        }

-        return usb_ports;
+        usb_ports
    }

    pub async fn check_ports(&mut self) -> CheckPortsResult {
@@ -158,18 +159,36 @@ impl<'serialdeviceregistry> SerialDetection<'serialdeviceregistry> {

    pub async fn check_remove_signals(&mut self) -> Vec<DeviceIdentification> {
        let mut removed_signals: Vec<DeviceIdentification> = Vec::new();
-        match self.device_removal_signal_rx.try_recv() {
-            Ok((path, error)) => {
-                // remove the device when the tuple positon 1 equals signal
-                if let Some(info) = self.ports.get(&path.clone()) {
-                    removed_signals.push(info.1.clone());
-                };
-                self.ports.remove(&path);

-                tracing::trace!("Removed device: {:?}: {}", path, error);
-            }
-            Err(_) => {}
+        let mut add_removal_signal = |path: &String| {
+            if let Some(info) = self.ports.get(path) {
+                removed_signals.push(info.1.clone());
+            };
+            self.ports.remove(path);
+        };
+
+        if self.device_removal_signal_rx.is_empty() {
+            return removed_signals;
        }
+
+        let removal = self
+            .device_removal_signal_rx
+            .recv()
+            .await
+            .expect("Failed to receive removal signals");
+
+        match removal {
+            SerialDeviceRemoval::Disconnect(path) => {
+                add_removal_signal(&path);
+                tracing::trace!("Removed serial device after disconnect: {:?}", path);
+            }
+
+            SerialDeviceRemoval::Error(path, error) => {
+                add_removal_signal(&path);
+                tracing::error!("Removed erroring serial device: {:?}: {}", path, error);
+            }
+        }
+
        removed_signals
    }
 }
@@ -21,6 +21,10 @@ impl std::fmt::Debug for GenericEvent {
    }
 }

+pub trait BuildEvent: Serialize + Send + Sync + Clone {
+    fn build(&self) -> Event<Self>;
+}
+
 #[derive(Debug, Clone, Serialize)]
 pub struct Event<T>
 where
@@ -30,7 +30,7 @@ impl Namespace {
    #[instrument(skip_all)]
    pub fn subscribe(&mut self, socket: SocketRef) {
        // add the socket to the list
-        self.sockets.push(socket.clone());
+        self.sockets.push(socket);
    }

    /// Removes a socket from the namespace.
@@ -81,7 +81,7 @@ impl Namespace {
        for (_event_name, events) in event_groups {
            for event in events {
                // Send to global queue instead of per-socket queue
-                self.send_to_queue(&socket, &event, "reemit");
+                self.send_to_queue(&socket, event, "reemit");
            }
        }
    }
@@ -97,13 +97,10 @@ impl Namespace {
    fn cache(
        &mut self,
        event: Arc<GenericEvent>,
-        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>) -> ()>,
+        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>)>,
    ) {
-        let mut cached_events_for_key = self
-            .events
-            .entry(event.name.clone())
-            .or_insert_with(Vec::new);
-        buffer_fn(&mut cached_events_for_key, &event);
+        let cached_events_for_key = self.events.entry(event.name.clone()).or_default();
+        buffer_fn(cached_events_for_key, &event);
    }

    /// Emits an event to all sockets in the namespace and caches it.
@@ -117,10 +114,10 @@ impl Namespace {
    pub fn emit(
        &mut self,
        event: Arc<GenericEvent>,
-        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>) -> ()>,
+        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>)>,
    ) {
        // cache the event
-        self.cache(event.clone(), &buffer_fn);
+        self.cache(event.clone(), buffer_fn);

        // emit the event - inlined from emit function
        // Send to global queue for each socket in the namespace
@@ -191,9 +188,9 @@ pub trait CacheableEvents<Events> {
    fn event_cache_fn(&self) -> CacheFn;
 }

-pub type CacheFn = Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>) -> ()>;
+pub type CacheFn = Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>)>;

-/// [BufferFn] that stores the last n events
+/// [`BufferFn`] that stores the last n events
 pub fn cache_n_events(n: usize) -> CacheFn {
    Box::new(move |events, event| {
        if events.len() >= n {
@@ -203,12 +200,31 @@ pub fn cache_n_events(n: usize) -> CacheFn {
    })
 }

-/// [BufferFn] that stores only one event
+/// [`BufferFn`] that stores only one event
 pub fn cache_one_event() -> CacheFn {
    cache_n_events(1)
 }

-/// [BufferFn] that stores events for a certain duration
+/// [`BufferFn`] that stores first and last event
+///
+/// The primary use case of this function is to cache both the default state of a machine, which should be emitted first,
+/// and the last event, which is the most recent state of the machine.
+pub fn cache_first_and_last_event() -> CacheFn {
+    Box::new(move |events, event| {
+        // if the events length 0 or 1, we just push the event
+        if events.is_empty() || events.len() == 1 {
+            events.push(event.clone());
+            return;
+        }
+        // if the event length is 2 we remove the last event and append a new one
+        if events.len() == 2 {
+            events.remove(1);
+            events.push(event.clone());
+        }
+    })
+}
+
+/// [`BufferFn`] that stores events for a certain duration
 pub fn cache_duration(duration: Duration, bucket_size: Duration) -> CacheFn {
    Box::new(move |events, event| {
        // Use event.ts instead of system time
@@ -17,8 +17,8 @@ impl Serialize for NamespaceId {
        S: Serializer,
    {
        match self {
-            NamespaceId::Main => serializer.serialize_str("/main"),
-            NamespaceId::Machine(id) => {
+            Self::Main => serializer.serialize_str("/main"),
+            Self::Machine(id) => {
                let path = format!(
                    "/machine/{}/{}/{}",
                    id.machine_identification.vendor, id.machine_identification.machine, id.serial
@@ -36,7 +36,7 @@ impl<'de> Deserialize<'de> for NamespaceId {
    {
        struct NamespaceIdVisitor;

-        impl<'de> Visitor<'de> for NamespaceIdVisitor {
+        impl Visitor<'_> for NamespaceIdVisitor {
            type Value = NamespaceId;

            fn expecting(&self, formatter: &mut fmt::Formatter) -> fmt::Result {
@@ -85,7 +85,7 @@ impl FromStr for NamespaceId {

    fn from_str(s: &str) -> Result<Self, Self::Err> {
        if s == "/main" {
-            return Ok(NamespaceId::Main);
+            return Ok(Self::Main);
        }

        if let Some(machine_path) = s.strip_prefix("/machine/") {
@@ -101,7 +101,7 @@ impl FromStr for NamespaceId {
                    .parse::<u16>()
                    .map_err(|_| "Invalid serial id".to_string())?;

-                return Ok(NamespaceId::Machine(MachineIdentificationUnique {
+                return Ok(Self::Machine(MachineIdentificationUnique {
                    machine_identification: MachineIdentification { vendor, machine },
                    serial,
                }));
@@ -116,8 +116,8 @@ impl FromStr for NamespaceId {
 impl fmt::Display for NamespaceId {
    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
        match self {
-            NamespaceId::Main => write!(f, "/main"),
-            NamespaceId::Machine(id) => {
+            Self::Main => write!(f, "/main"),
+            Self::Machine(id) => {
                write!(
                    f,
                    "/machine/{}/{}/{}",
@@ -0,0 +1,27 @@
+use crate::transmission::Transmission;
+
+#[derive(Debug, Clone)]
+pub struct FixedTransmission {
+    ratio: f64,
+}
+
+impl Transmission for FixedTransmission {
+    fn get_ratio(&self) -> f64 {
+        self.ratio
+    }
+}
+
+impl FixedTransmission {
+    /// Creates a new FixedTransmission with the specified ratio.
+    ///
+    /// # Arguments
+    ///
+    /// * `ratio` - The transmission ratio (output over input).
+    ///
+    /// # Returns
+    ///
+    /// A new instance of FixedTransmission.
+    pub const fn new(ratio: f64) -> Self {
+        Self { ratio }
+    }
+}
@@ -0,0 +1,95 @@
+use uom::si::{
+    angle::radian,
+    angular_velocity::radian_per_second,
+    f64::{Angle, AngularVelocity, Length, Velocity},
+    length::meter,
+    velocity::meter_per_second,
+};
+
+pub mod fixed;
+
+/// A trait representing a mechanical transmission system that converts input to output
+/// with a specific gear ratio.
+///
+/// This trait provides methods for working with transmission ratios and converting
+/// between input and output values based on the transmission's gear ratio.
+pub trait Transmission {
+    /// Returns the transmission ratio of this transmission system.
+    ///
+    /// The ratio represents the relationship between input and output speeds/torques.
+    /// A ratio greater than 1.0 indicates speed reduction (torque multiplication),
+    /// while a ratio less than 1.0 indicates speed increase (torque reduction).
+    ///
+    /// # Returns
+    ///
+    /// The transmission ratio as a floating-point number.
+    fn get_ratio(&self) -> f64;
+
+    /// Converts an input value to the corresponding output value using the transmission ratio.
+    ///
+    /// This method multiplies the input by the transmission ratio to calculate the output.
+    /// Typically used for converting input speed to output speed in a transmission system.
+    ///
+    /// # Arguments
+    ///
+    /// * `input` - The input value to be converted
+    ///
+    /// # Returns
+    ///
+    /// The output value after applying the transmission ratio.
+    fn calculate_output(&self, input: f64) -> f64 {
+        input * self.get_ratio()
+    }
+
+    /// Converts an output value to the corresponding input value using the transmission ratio.
+    ///
+    /// This method divides the output by the transmission ratio to calculate the required input.
+    /// Typically used for determining what input is needed to achieve a desired output.
+    ///
+    /// # Arguments
+    ///
+    /// * `output` - The output value to be converted back to input
+    ///
+    /// # Returns
+    ///
+    /// The input value required to produce the given output.
+    fn calculate_input(&self, output: f64) -> f64 {
+        output / self.get_ratio()
+    }
+
+    fn calculate_angular_output(&self, input: Angle) -> Angle {
+        Angle::new::<radian>(self.calculate_output(input.get::<radian>()))
+    }
+
+    fn calculate_angular_input(&self, output: Angle) -> Angle {
+        Angle::new::<radian>(self.calculate_input(output.get::<radian>()))
+    }
+
+    fn calculate_angular_velocity_output(&self, input: AngularVelocity) -> AngularVelocity {
+        AngularVelocity::new::<radian_per_second>(
+            self.calculate_output(input.get::<radian_per_second>()),
+        )
+    }
+
+    fn calculate_angular_velocity_input(&self, output: AngularVelocity) -> AngularVelocity {
+        AngularVelocity::new::<radian_per_second>(
+            self.calculate_input(output.get::<radian_per_second>()),
+        )
+    }
+
+    fn calculate_linear_output(&self, input: Length) -> Length {
+        Length::new::<meter>(self.calculate_output(input.get::<meter>()))
+    }
+
+    fn calculate_linear_input(&self, output: Length) -> Length {
+        Length::new::<meter>(self.calculate_input(output.get::<meter>()))
+    }
+
+    fn calculate_linear_velocity_output(&self, input: Velocity) -> Velocity {
+        Velocity::new::<meter_per_second>(self.calculate_output(input.get::<meter_per_second>()))
+    }
+
+    fn calculate_linear_velocity_input(&self, output: Velocity) -> Velocity {
+        Velocity::new::<meter_per_second>(self.calculate_input(output.get::<meter_per_second>()))
+    }
+}
@@ -0,0 +1,208 @@
+use anyhow::Error;
+use std::collections::HashMap;
+use tokio::sync::broadcast;
+
+/// Video stream manager that handles multiple video streams per machine with true broadcasting
+/// Uses tokio broadcast channels to ensure all subscribers receive all messages without stealing
+#[derive(Debug)]
+pub struct VideoStreamManager {
+    /// Each stream has its own broadcast transmitter and template receiver
+    streams: HashMap<String, (broadcast::Sender<Vec<u8>>, broadcast::Receiver<Vec<u8>>)>,
+}
+
+impl VideoStreamManager {
+    pub fn new() -> Self {
+        Self {
+            streams: HashMap::new(),
+        }
+    }
+
+    /// Send a frame to all subscribers of a stream
+    /// Returns Ok if the frame was sent, Err if the stream doesn't exist
+    pub fn send_frame(&self, stream_id: &str, frame: Vec<u8>) -> Result<(), Error> {
+        if let Some((tx, _rx)) = self.streams.get(stream_id) {
+            match tx.send(frame) {
+                Ok(_) => Ok(()),
+                Err(_) => Ok(()), // No receivers, but that's not an error
+            }
+        } else {
+            Err(anyhow::anyhow!("Stream '{}' not found", stream_id))
+        }
+    }
+
+    /// Register a new video stream with the given ID
+    pub fn add_stream(&mut self, stream_id: String) {
+        let (tx, rx) = broadcast::channel::<Vec<u8>>(256); // 256 frame buffer capacity
+        self.streams.insert(stream_id, (tx, rx));
+    }
+
+    /// Get list of available stream IDs
+    pub fn get_streams(&self) -> Vec<String> {
+        self.streams.keys().cloned().collect()
+    }
+
+    /// Check if a stream exists
+    pub fn has_stream(&self, stream_id: &str) -> bool {
+        self.streams.contains_key(stream_id)
+    }
+
+    /// Remove a stream and all its subscribers
+    pub fn remove_stream(&mut self, stream_id: &str) -> bool {
+        self.streams.remove(stream_id).is_some()
+    }
+
+    /// Subscribe to a video stream and get a receiver
+    /// Returns the receiver for the new subscription
+    pub fn subscribe_to_stream(&self, stream_id: &str) -> Option<broadcast::Receiver<Vec<u8>>> {
+        self.streams
+            .get(stream_id)
+            .map(|(_tx, rx)| rx.resubscribe()) // Resubscribe to create a new independent receiver
+    }
+
+    /// Get subscriber count for a stream
+    pub fn get_subscriber_count(&self, stream_id: &str) -> usize {
+        self.streams
+            .get(stream_id)
+            .map_or(0, |(tx, _rx)| tx.receiver_count())
+    }
+
+    /// Get a stream transmitter for sending frames (used by machines to send video)
+    /// Returns None if the stream doesn't exist
+    pub fn get_sender(&self, stream_id: &str) -> Option<broadcast::Sender<Vec<u8>>> {
+        self.streams.get(stream_id).map(|(tx, _rx)| tx.clone())
+    }
+}
+
+impl Default for VideoStreamManager {
+    fn default() -> Self {
+        Self::new()
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[tokio::test]
+    async fn test_video_stream_manager() {
+        let mut manager = VideoStreamManager::new();
+
+        // Register streams
+        manager.register_stream("camera1".to_string());
+        manager.register_stream("camera2".to_string());
+
+        assert_eq!(manager.get_stream_ids().len(), 2);
+        assert!(manager.has_stream("camera1"));
+        assert!(manager.has_stream("camera2"));
+        assert!(!manager.has_stream("camera3"));
+
+        // Subscribe to streams
+        let mut rx1 = manager.subscribe_to_stream("camera1").unwrap();
+        let mut rx2 = manager.subscribe_to_stream("camera1").unwrap();
+        let mut rx3 = manager.subscribe_to_stream("camera2").unwrap();
+
+        assert_eq!(manager.get_subscriber_count("camera1"), 3); // Original + 2 clones
+        assert_eq!(manager.get_subscriber_count("camera2"), 2); // Original + 1 clone
+        assert_eq!(manager.get_subscriber_count("nonexistent"), 0);
+
+        // Send frames
+        let frame1 = vec![1, 2, 3, 4];
+        let frame2 = vec![5, 6, 7, 8];
+
+        assert!(manager.send_single_frame("camera1", frame1.clone()));
+        assert!(manager.send_single_frame("camera2", frame2.clone()));
+        assert!(!manager.send_single_frame("nonexistent", vec![]));
+
+        // Both camera1 subscribers should receive the frame
+        assert_eq!(rx1.recv().await.unwrap(), frame1);
+        assert_eq!(rx2.recv().await.unwrap(), frame1);
+
+        // Camera2 subscriber should receive its frame
+        assert_eq!(rx3.recv().await.unwrap(), frame2);
+    }
+
+    #[tokio::test]
+    async fn test_video_frame_broadcasting() {
+        let mut manager = VideoStreamManager::new();
+        manager.register_stream("main_camera".to_string());
+
+        // Multiple clients subscribe to the same camera
+        let mut rx1 = manager.subscribe_to_stream("main_camera").unwrap();
+        let mut rx2 = manager.subscribe_to_stream("main_camera").unwrap();
+        let mut rx3 = manager.subscribe_to_stream("main_camera").unwrap();
+
+        // Simulate video frames
+        let frames = vec![
+            vec![0xFF, 0xD8, 0xFF, 0xE0], // JPEG header
+            vec![0x00, 0x01, 0x02, 0x03], // Frame 1
+            vec![0x04, 0x05, 0x06, 0x07], // Frame 2
+        ];
+
+        for frame in &frames {
+            assert!(manager.send_single_frame("main_camera", frame.clone()));
+        }
+
+        // All clients should receive all frames in order
+        for frame in &frames {
+            assert_eq!(rx1.recv().await.unwrap(), *frame);
+            assert_eq!(rx2.recv().await.unwrap(), *frame);
+            assert_eq!(rx3.recv().await.unwrap(), *frame);
+        }
+    }
+
+    #[test]
+    fn test_stream_management() {
+        let mut manager = VideoStreamManager::new();
+
+        // Initially no streams
+        assert_eq!(manager.get_stream_ids().len(), 0);
+
+        // Add streams
+        manager.register_stream("front_camera".to_string());
+        manager.register_stream("rear_camera".to_string());
+        manager.register_stream("side_camera".to_string());
+
+        let mut stream_ids = manager.get_stream_ids();
+        stream_ids.sort(); // Sort for consistent testing
+        assert_eq!(
+            stream_ids,
+            vec!["front_camera", "rear_camera", "side_camera"]
+        );
+
+        // Remove a stream
+        assert!(manager.remove_stream("rear_camera"));
+        assert!(!manager.remove_stream("rear_camera")); // Already removed
+        assert!(!manager.has_stream("rear_camera"));
+
+        assert_eq!(manager.get_stream_ids().len(), 2);
+    }
+
+    #[tokio::test]
+    async fn test_send_frame_results() {
+        let mut manager = VideoStreamManager::new();
+        manager.register_stream("test_camera".to_string());
+
+        // One initial receiver (the original one created in register_stream)
+        let result = manager.send_frame("test_camera", vec![1, 2, 3]).unwrap();
+        assert_eq!(result, 1); // Number of subscribers
+
+        // Add subscribers by cloning the receiver
+        let _rx1 = manager.subscribe_to_stream("test_camera").unwrap();
+        let _rx2 = manager.subscribe_to_stream("test_camera").unwrap();
+
+        // Send frame to multiple subscribers (original + 2 clones = 3 total)
+        let result = manager.send_frame("test_camera", vec![4, 5, 6]).unwrap();
+        assert_eq!(result, 3); // Number of subscribers
+
+        // Try sending to non-existent stream
+        let result = manager.send_frame("nonexistent", vec![7, 8, 9]);
+        assert!(result.is_err());
+        assert_eq!(result.unwrap_err(), "Stream 'nonexistent' not found");
+    }
+
+    #[test]
+    fn test_default_video_stream_manager() {
+        let manager = VideoStreamManager::default();
+        assert_eq!(manager.get_stream_ids().len(), 0);
+    }
+}
@@ -0,0 +1,145 @@
+# How can I add a new Machine?
+
+Adding a new machine follows a common structure in `server/machines/`.
+
+
+
+# TLDR
+
+Summary
+
+When adding a new machine:
+
+- Create Folder server/machines/YOUR_MACHINE_NAME/.
+- Add the 4 files (mod.rs, new.rs, act.rs, api.rs).
+- Register it in machines/mod.rs with a unique constant.
+- mod.rs: define the struct + emit functions.
+- new.rs: assemble devices/controllers into the machine.
+- act.rs: implement the machine loop (MachineAct).
+- api.rs: define request (mutations) and response (events) types.
+
+Tip: Start simple (copy MockMachine) and grow complexity as needed (add EtherCAT devices, controllers, etc.).
+
+---
+
+## 1. Create the folder
+
+Create a new directory:
+server/machines/YOUR_MACHINE_NAME
+
+At a minimum, this folder needs the following files:
+
+- `mod.rs`
+- `new.rs`
+- `act.rs`
+- `api.rs`
+
+---
+
+## 2. Register the module
+
+Add your machine to `server/machines/mod.rs`:
+
+```rust
+// mod.rs
+pub mod buffer1;
+pub mod extruder1;
+pub mod laser;
+pub mod mock;
+pub mod registry;
+pub mod winder2;
+pub mod YOUR_MACHINE;
+
+pub const VENDOR_QITECH: u16 = 0x0001;
+pub const MACHINE_WINDER_V1: u16 = 0x0002;
+pub const MACHINE_EXTRUDER_V1: u16 = 0x0004;
+pub const MACHINE_LASER_V1: u16 = 0x0006;
+pub const MACHINE_MOCK: u16 = 0x0007;
+pub const MACHINE_BUFFER_V1: u16 = 0x0008;
+pub const YOUR_MACHINE_V1: u16 = 0xffff; // pick a unique ID to avoid collisions also DO NOT touch any already defined ids!!
+```
+
+## 3. mod.rs
+
+This file defines your machine struct and the required event emitters.
+
+Look at MockMachine’s mod.rs for the simplest possible version.
+
+At a minimum, you need:
+- emit_state
+- emit_live_values
+- A machine struct for state(e.g. MockMachine, Extruder, Laser, Winder, …)
+
+More complex machines (e.g. Extruder, Winder) encapsulate controllers that in turn manage devices like EtherCAT terminals.
+
+## 4 new.rs
+
+This file implements MachineNewTrait for your machine.
+Here you assemble your machine from its parts — devices, controllers, and any state.
+
+Minimal example: see MockMachine → basically no devices, just returns a struct.
+
+Medium complexity: see Laser → wraps a single serial USB device.
+
+High complexity: see Extruder → configures multiple EtherCAT devices inside controllers.
+
+Think of new.rs as the factory:
+This is the place to declare which devices make up your machine and how they’re configured.
+
+## 5. act.rs
+
+This file implements the machine control loop using MachineAct.
+The act() method is called repeatedly by the control runtime.
+
+```rs
+impl MachineAct for YourMachine {
+    fn act(&mut self, _now_ts: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let now = Instant::now();
+
+            // Update state, e.g. step a controller
+            self.some_controller.update();
+
+            // Emit live values ~30 Hz if machine is in Running mode
+            if now.duration_since(self.last_measurement_emit) > Duration::from_secs_f64(1.0 / 30.0) {
+                self.maybe_emit_state_event();
+                self.emit_live_values();
+                self.last_measurement_emit = now;
+            }
+        })
+    }
+}
+```
+
+## 6. api.rs
+
+Defines the frontend-facing API for your machine:
+
+Mutations → requests that the machine accepts
+(e.g. start/stop commands, setpoints, configuration updates).
+
+Events → responses emitted to the frontend
+(e.g. live sensor data, alarms, machine state changes).
+
+Look at MockMachine’s api.rs for a minimal version.
+
+```rs
+/// Mutations are API requests to control the machine
+#[derive(Debug, Clone, serde::Deserialize)]
+#[serde(tag = "type", rename_all = "snake_case")]
+pub enum YourMachineMutation {
+    Start,
+    Stop,
+    SetSpeed { rpm: f64 },
+}
+
+/// Events are responses sent to the frontend
+#[derive(Debug, Clone, serde::Serialize)]
+#[serde(tag = "type", rename_all = "snake_case")]
+pub enum YourMachineEvent {
+    StateChanged { state: String },
+    LiveValues { rpm: f64, torque: f64 },
+}
+
+```
+
@@ -0,0 +1,94 @@
+# Code Style
+
+# General Code styling
+
+Try to adhere to the rust style guide:
+https://doc.rust-lang.org/nightly/style-guide/
+
+# Beckhoff terminals and Machines
+
+For Beckhoff terminals you should first implement the basic functionality, then an Interpreter of the device/data is built on top.
+A good example of how to do this is by looking at the following code:
+el3021.rs , AnalogInputDevice
+
+El3021 implements a so called AnalogInputDevice, which acts like an interface.
+This allows us to use AnalogInputDevice instead of having to always specify which device should be used.
+In Essence any Device that implements AnalogInputDevice can be used.
+
+AnalogInputDevice is then used for creating an AnalogInput, which is plug and play for machines.
+
+Then a further layer of Abstraction is used on top,
+where the data is interpreted and incorporated into a sort of control loop for certain functions, for example:
+
+```rust
+// ScrewSpeedController controlls the speed (frequency) and direction of the motor
+// AnalogInput is used to collect measurements from the pressure sensor.
+// screw_speed_controller.rs
+#[derive(Debug)]
+pub struct ScrewSpeedController {
+    pub pid: ClampingTimeagnosticPidController,
+    pub target_pressure: Pressure,
+    pub target_rpm: AngularVelocity,
+    pub inverter: MitsubishiCS80,
+    pressure_sensor: AnalogInput,
+    last_update: Instant,
+    uses_rpm: bool,
+    forward_rotation: bool,
+    transmission_converter: TransmissionConverter,
+    frequency: Frequency,
+    maximum_frequency: Frequency,
+    minimum_frequency: Frequency,
+    motor_on: bool,
+    nozzle_pressure_limit: Pressure,
+    nozzle_pressure_limit_enabled: bool,
+}
+
+// Under the hood for ExtruderV2 a El3021 is used:
+// (from new.rs of extruder)
+let pressure_sensor = AnalogInput::new(el3021, EL3021Port::AI1);
+
+// But the extruder does not directly use the AnalogInput, instead the logic is decoupled in the screw_speed_controller:
+let mut extruder: ExtruderV2 = Self {
+    namespace: ExtruderV2Namespace::new(params.socket_queue_tx.clone()),
+    last_measurement_emit: Instant::now(),
+    mode: ExtruderV2Mode::Standby,
+    temperature_controller_front: temperature_controller_front,
+    temperature_controller_middle: temperature_controller_middle,
+    temperature_controller_back: temperature_controller_back,
+    temperature_controller_nozzle: temperature_controller_nozzle,
+    screw_speed_controller: screw_speed_controller,
+    emitted_default_state: false,
+};
+
+// Then in act.rs
+// The extruder simply calls the update function of the screw_speed_controller,
+// which contains "all" of the logic needed to properly drive the motor
+self.screw_speed_controller.update(now_ts, true);
+
+
+```
+
+This is desired behaviour for all implemented devices, the machines should stay as modular as possible.
+
+# Representing physical Units (Volt,Ampere,Hz,RPM etc)
+
+To represent physical units like voltage ampere etc... we use uom (units of measurement), which acts as a wrapper for units and supplies all conversions between certain units.
+For example:
+
+```rust
+// Lets say a device measures voltage, you just got the raw value
+let volts : ElectricPotential = ElectricPotential::new::<volt>(raw_value_here);
+// Then you can do this to get milli_volts
+// In api responses we always use the RAW float value (64bit):
+let milli_volts : f64 = volts.get::<millivolt>();
+```
+
+# General Advice
+
+- Try to avoid duplicate code (DRY principle)
+- Try to avoid lifetimes if at all possible
+- Avoid excessive abstractions
+- Avoid async code unless it is required
+- Avoid taking Ownership of values, instead borrow the value
+- When implementing a Trait for a struct, do it in the same file as the struct definition
+- Split up large impl blocks into smaller impl blocks
@@ -0,0 +1,84 @@
+# Environment Setup
+
+Working on this repository requires you to use cargo and npm. In the following document the installation process will be shown
+
+## Ubuntu/Debian Installation
+
+```bash
+    # Just press enter when prompted
+    curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
+    apt install npm
+    apt install nodejs
+    # assuming you dont have git already, Git setup not included in here
+    apt install git
+    git clone git@github.com:qitechgmbh/control.git
+    cd control
+    cd electron
+    npm install
+```
+
+# Running Backend and Frontend Linux
+
+## Backend
+
+To Compile backend code and run it on Linux:
+
+```bash
+./cargo_run_linux.sh
+```
+
+The script sets capabilities on the compiled binary like raw socket access.
+Here it is required that you are connected to atleast one machine that is communicated with over ethercat or usb/serial.
+The Most minimal working setup would be to connect over ethernet to an ek1100 beckhoff terminal.
+
+## Mock-Machine
+
+The Mock-Machine can be used to test code that does not require an actual machine connection.
+Like Frontend Code for example.
+
+Mock machines can be used if the compile feature mock-machine is enabled.
+
+```bash
+# in root git folder
+./cargo_run_linux.sh mock-machine
+```
+
+## Frontend
+
+To run the Frontend Code:
+
+```bash
+# need to be in the electron folder and an additional terminal
+cd electron
+npm run start
+```
+
+# Contributing
+
+Generally you contribute to the codebase by:
+
+1. Opening or Choosing an existing issue (Bug,Feature,Task etc)
+2. Work on it locally
+3. Commit your changes locally
+4. Before pushing changes, if there were changes on the master branch, rebase your branch like so:
+
+```bash
+git fetch
+git rebase origin/master
+```
+
+5. Push changes
+
+```bash
+# IF you needed to rebase
+git push --force-with-lease
+# ELSE you just push
+git push
+```
+
+6. Open a Pull Request on Github and link the issue by writing fix #issue_number, after the pull request is merged into master the branch is closed automatically
+7. Request a Review and hope for the best :)
+
+# Recommended Editor Setup
+
+We recommend you to use an Editor with rust-analyzer support like VSCode to speed up development and detect errors before compiling.
@@ -0,0 +1,128 @@
+# Performance/Stability Tweaks 
+## EtherCrab Config
+We set ethercrab to default settings for everything except for RetryBehaviour, so that one unlikely failure doesnt destroy the EtherCAT network.
+
+```rust
+    let maindevice = MainDevice::new(
+        pdu,
+        Timeouts {
+            // Default 5000ms
+            state_transition: Duration::from_millis(5000),
+            // Default 30_000us
+            pdu: Duration::from_micros(30_000),
+            // Default 10ms
+            eeprom: Duration::from_millis(10),
+            // Default 0ms
+            wait_loop_delay: Duration::from_millis(0),
+            // Default 100ms
+            mailbox_echo: Duration::from_millis(100),
+            // Default 1000ms
+            mailbox_response: Duration::from_millis(1000),
+        },
+        MainDeviceConfig {
+            // Default RetryBehaviour::None
+            retry_behaviour: RetryBehaviour::Count(5),
+            // Default 10_000
+            dc_static_sync_iterations: 10_000,
+        },
+    );
+
+```
+wait_loop_delay CAN in theory also decrease CPU usage if set exactly as the loop_delay we set, however this setting has caused us some issues, so we just leave it as is.
+
+## Realtime Kernel
+In our nixOs Config we use the latest realtime kernel and isolate TWO cores out of the Four available for the machines we use.
+
+```nix
+ #From configuration.nix
+ boot.loader.efi.canTouchEfiVariables = true;
+ boot.kernelPackages = pkgs.linuxPackages-rt_latest;
+ boot.kernelModules = [ "i915" ];
+```
+
+Notice how we hardcode the intel gpu kernel module. This is because only the GPU driver gets blacklisted for some reason. By specifying it manually it loads like before.
+
+One Core is used for the EtherCrab TXRX Thread and one is used for the machine Thread. 
+```
+    "isolcpus=2,3" # Isolate cpus 2 and 3 from scheduler for better latency, 2 runs ethercatthread and 3 runs server control-loop
+    "nohz_full=2,3" # In this mode, the periodic scheduler tick is stopped when only one task is running, reducing kernel interruptions on those CPUs.
+    "rcu_nocbs=2,3" # Moves RCU (Read-Copy Update) callback processing away from CPUs 2 and 3.
+```
+
+Essentially we completely disable acces from the operating system to these two cpus, which saves scheduler overhead, which would introduce noticable latency.
+Its not entirely clear yet if what we did here is overkill. Maybe we could use only one core and get away with that?
+Processor load normally hovers around 18% for one of the cores and like 9% for the other.
+
+We also have some minor cpu tweaks in configuration.nix
+```
+    # Graphical
+    "logo.nologo" # Remove kernel logo during boot
+
+    # Performance
+
+    # Specific Vulnerabilities Addressed by Mitigations:
+    # - Spectre variants (V1, V2, V4, SWAPGS, SpectreRSB, etc.)
+    # - Meltdown (Rogue Data Cache Load)
+    # - Foreshadow/L1TF (L1 Terminal Fault)
+    # - Microarchitectural Data Sampling (MDS, RIDL, Fallout, ZombieLoad)
+    # - SRBDS (Special Register Buffer Data Sampling)
+    # - TSX Asynchronous Abort (TAA)
+    # - iTLB Multihit
+    # - And others as they're discovered and mitigated
+    #
+    # With mitigations=off
+    # - PROS: Maximum performance, equivalent to pre-2018 behavior
+    # - CONS: Vulnerable to Spectre, Meltdown, Foreshadow, ZombieLoad, etc.
+    #         Should ONLY be used in completely trusted environments
+    # - Improves performance by 7-43%
+    "mitigation=off"
+    "intel_pstate=performance"    # Intel CPU-specific performance mode (if applicable)
+
+    # Memory Management
+    "transparent_hugepage=always" # Use larger memory pages for memory intense applications
+    "nmi_watchdog=0"              # Disable NMI watchdog for reduced CPU overhead and realtime execution
+
+    # High-throughput ethernet parameters
+    "pcie_aspm=off"         # Disable PCIe power management for NICs
+    "intel_iommu=off"       # Disable IOMMU (performance gain)
+
+    # Reliability
+    "panic=10"              # Auto-reboot 10 seconds after kernel panic
+    "oops=panic"            # Treat kernel oops as panic for auto-recovery
+    "usbcore.autosuspend=-1"     # Possibly fixes dre disconnect issue?
+```
+
+We should check if its really required to turn mitigations off as well.
+
+## Rust Code Optimizations
+
+In General we try to avoid memory allocations in our loop as much as possible, as it is not deterministic
+
+One problem we found, is that due to the realtime kernel our ethernet driver caused us quite large spikes in our tx_rx cycle time for EtherCAT.
+These spikes happen when CPU Load is very high on the two usable cores, causing the interrupt handler for Ethernet to stall.
+
+Which is why we reassign the interrupt handler on startup to the same core that the EtherCatTxRx Thread runs on:
+
+```rust
+#[cfg(target_os = "linux")]
+match set_irq_affinity(&interface, 3) {
+      Ok(_) => tracing::info!("ethernet interrupt handler now runs on cpu:{}", 3),
+      Err(e) => tracing::error!("set_irq_affinity failed: {:?}", e),
+}
+// Set core affinity to 4th core
+let _ = set_core_affinity(3);
+
+// Set the thread to real-time priority
+let _ = set_realtime_priority();
+```
+This means that the Interrupt Handler ALWAYS has enough ressources to cope with our demand for realtime communication with EtherCAT
+
+
+One Problem we have at the moment (we think) is the locking and async code blocking our server loop. 
+Note that this doesnt affect the EtherCAT communication at all.
+
+## Electron Optimizations (Not Yet Implemented)
+
+Currently we are struggling with the fact, that apparently Electron doesnt really have good support for HW acceleration on Linux.
+Electron runs with the software-renderer, which is VERY slow compared to a gpu. 
+This would eliminate the weird stuttering seen on Graphs and make them run buttery smooth, while also alleviating load off of the CPU.
@@ -0,0 +1,166 @@
+# Presets
+
+To allow the user to save the current configuration of a machine, they can create a preset in the presets page. Presets are presited in electron's local storage.
+
+Presets are all handled by the `PresetsPage`. To use the `PresetsPage` for a single machine, one must implement the following.
+
+Create a zod schema for the data, the presets contain.
+ ```tsx
+const mock1PresetDataSchema = z
+  .object({
+    frequency1: z.number(),
+    frequency2: z.number(),
+    frequency3: z.number(),
+  })
+  .partial();
+
+type Mock1 = typeof mock1PresetDataSchema;
+```
+Here, intensionally, `Mock1` is the schema type itself. It can be used as a type argument everything that uses presets.
+
+Next, create a map containing all schema versions currently supported (the new schema, to be precise).
+```tsx
+const schemas = new Map([[1, mock1PresetDataSchema]]);
+```
+New, the schema will be used to parse version `1`. To create new versions, see migrations below.
+
+One also needs to define a table, how the preset data should be shown to the user.
+```tsx
+const previewEntries: PresetPreviewEntries<Mock1> = [
+  {
+    name: "Frequency 1",
+    unit: "mHz",
+    renderValue: (data: PresetData<Mock1>) => data?.frequency1?.toFixed(3),
+  },
+  {
+    name: "Frequency 2",
+    unit: "mHz",
+    renderValue: (data: PresetData<Mock1>) => data?.frequency2?.toFixed(3),
+  },
+  {
+    name: "Frequency 3",
+    unit: "mHz",
+    renderValue: (data: PresetData<Mock1>) => data?.frequency3?.toFixed(3),
+  },
+];
+```
+`renderValue` gets the data itself and renders the corresponding part of it. Returning undefined will automatically be rendered as the value is not set, showing "N/A".
+
+Create a function for the new react component and use the appropreate machine.
+```tsx
+export function Mock1PresetsPage() {
+  const { setFrequency1, setFrequency2, setFrequency3, defaultState, state } =
+    useMock1();
+  // ...
+}
+```
+
+Here, two more functions need to be created.     const toPresetData = (s: typeof state): PresetData<Mock1> => ({
+    frequency1: s?.frequency1 ?? defaultState?.frequency1,
+    frequency2: s?.frequency2 ?? defaultState?.frequency2,
+    frequency3: s?.frequency3 ?? defaultState?.frequency3,The first takes in a preset and applies it on the machine. If data is missing, use the default defined by the backend.
+```tsx
+export function Mock1PresetsPage() {
+  const { setFrequency1, setFrequency2, setFrequency3, defaultState, state } =
+    useMock1();
+
+  const applyPreset = (preset: Preset<Mock1>) => {
+    const frequency1 = preset.data?.frequency1 ?? 100;
+    const frequency2 = preset.data?.frequency2 ?? 200;
+    const frequency3 = preset.data?.frequency3 ?? 500;
+
+    setFrequency1(frequency1);
+    setFrequency2(frequency2);
+    setFrequency3(frequency3);
+  };
+  // ...
+}
+```
+The later does the opposite, it turns a machine state, comming from the backend, into the preset data
+```tsx
+export function Mock1PresetsPage() {
+  const { setFrequency1, setFrequency2, setFrequency3, defaultState, state } =
+    useMock1();
+  // ...
+    const toPresetData = (s: typeof state): PresetData<Mock1> => ({
+    frequency1: s?.frequency1 ?? defaultState?.frequency1,
+    frequency2: s?.frequency2 ?? defaultState?.frequency2,
+    frequency3: s?.frequency3 ?? defaultState?.frequency3,
+  });
+  // ...
+}
+```
+
+Having all this, we can simple pass it to the `PresetsPage`
+```tsx
+export function Mock1PresetsPage() {
+  // ...
+  return (
+    <PresetsPage
+      machine_identification={mock1.machine_identification}
+      currentState={toPresetData(state)}
+      schemas={schemas}
+      schemaVersion={1}
+      applyPreset={applyPreset}
+      previewEntries={previewEntries}
+      defaultState={toPresetData(defaultState)}
+    />
+  );
+}
+```
+Also mind the machine identification, that has to match the machine we are using and the schema versionen. Here we pass `1`, as we also used `1` in the schemas map.
+
+## Migrations
+
+Migrations are handled by the `PresetsPage`, however, one still has to define what to migrate.
+To do so, first create the new schema.
+```tsx
+const fancyNewMock1PresetDataSchema = z
+  .object({
+    frequency1_now_with_ai: z.number(),
+    frequency2: z.number(),
+    frequency3: z.number(),
+    frequency4: z.number(),
+  })
+  .partial();
+
+type Mock1 = typeof fancyNewMock1PresetDataSchema;
+```
+and then, also create a migration that uses the new schema, but can handle the old format.
+```tsx
+const mock1PresetDataSchemaMigration: PresetSchema = z.preprocess(
+  (obj: any): PresetData<Mock1> => ({
+    frequency1_now_with_ai: obj?.frequency1, // Here, a field have been renamed
+    frequency2: obj?.frequency2,
+    frequency3: obj?.frequency3,
+    frequency4: 666.0, // A new field is added. Initialize it with default the value 
+  }),
+  fancyNewMock1PresetDataSchema,
+);
+```
+Usings zods preprocessing step,
+we can first transform the data as needed and then validate using the new schema accordingly.
+
+We have to register both schemas in our schema map.
+```tsx
+const schemas = new Map<number, Mock1>([
+  [1, mock1PresetDataSchemaMigration as Mock1],
+  [2, fancyNewMock1PresetDataSchema],
+]);
+```
+Mind the cast, which is ok, because `mock1PresetDataSchemaMigration` parses `fancyNewMock1PresetDataSchema` by construction.
+
+Lastly, simply change the schema version being passed to the `PresetsPage`.
+```diff
+@@ -62,7 +77,7 @@ export function Mock1PresetsPage() {
+       machine_identification={mock1.machine_identification}
+       currentState={toPresetData(state)}
+       schemas={schemas}
+-      schemaVersion={1}
+      schemaVersion={2}
+       applyPreset={applyPreset}
+       previewEntries={previewEntries}
+       defaultState={toPresetData(defaultState)}
+```
+Make sure, that all (exsiting and new migrations) return a schema version 2 conform format.
+Of corse, one can chain migrations of needed - just the end result must be complient.
@@ -0,0 +1,27 @@
+# Testing Ram and Cpu (Hardware)
+
+There were instability problems on one of the hmi panel pc's related to ram.
+
+To test Ram and Cpu for stability problems we use memtest86.
+
+You can download it here: https://www.memtest86.com/download.htm
+Then in the unzipped folder you have to flash the .img file to a USB drive with atleast 2GB of space.
+We already have USB-Sticks flashed with memtest though.
+
+1. When starting up the Pc mash Del (Entf in german) on an external keyboard and enter the bios
+
+2. Select the Memtest86 usb stick in the Bios
+
+3. Save changes and exit
+
+4. Now memtest boots up, just let it do its thing from here
+
+It works if the screen looks something like this:
+
+![](../assets/Memtest86_v83p.png)
+
+Simply let it do one Pass ~20 minutes and shutdown and unplug usb stick afterwards
+
+If it freezes completely -> unstable
+
+If it shows errors the ram should be swapped out and the test repeated
@@ -115,3 +115,130 @@ pub fn (
    }
 }
 ```
+
+
+# Device Implementation Guide
+
+This section describes how to implement EtherCAT devices in the framework used by the QiTech Control project (via `ethercat-hal`, `server`, etc.). We include a running example of a simple digital output device (EL2004) and discuss how it fits into the larger architecture.
+
+## Architecture & Context
+
+The QiTech Control system is built as:
+
+- `ethercat-hal` / `ethercat-hal-derive`: Hardware abstraction, PDO / CoE handling, device traits.  
+- `server`: Glue code that reads device identities, instantiates the correct device types, performs CoE configuration, and runs cyclic process data.  
+- The `docs` directory documents APIs and device patterns.  
+  :contentReference[oaicite:0]{index=0}  
+
+In this architecture:
+
+1. During initialization, subdevice identity tuples (Vendor ID, Product ID, Revision) are read.
+2. The `server` matches identity tuples to concrete `Device` types and constructs them (via `NewEthercatDevice`).
+3. The device instance then handles PDO exchange, and optional CoE (configuration) writes.
+4. Higher-level application code interacts with devices via traits like `DigitalOutputDevice`, `DigitalInputDevice`, etc.
+
+---
+
+## Example: Simple Digital Output Device (EL2004)
+
+Below is a minimal example of a digital-output-only EtherCAT device. It shows how to map PDOs, implement traits, and define identity constants.
+
+```rust
+use super::{EthercatDeviceProcessing, NewEthercatDevice, SubDeviceIdentityTuple};
+use crate::helpers::ethercrab_types::EthercrabSubDevicePreoperational;
+use crate::io::digital_output::{DigitalOutputDevice, DigitalOutputOutput};
+use crate::pdo::{RxPdo, basic::BoolPdoObject};
+use ethercat_hal_derive::{EthercatDevice, RxPdo};
+
+/// EL2004 4-channel digital output device — 24 V DC, 0.5 A per channel
+#[derive(EthercatDevice)]
+pub struct EL2004 {
+    /// The Rx PDO where output bits are written by the master
+    pub rxpdo: EL2004RxPdo,
+    is_used: bool,
+}
+
+impl EthercatDeviceProcessing for EL2004 {}
+
+impl std::fmt::Debug for EL2004 {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(f, "EL2004")
+    }
+}
+
+impl NewEthercatDevice for EL2004 {
+    fn new() -> Self {
+        Self {
+            rxpdo: EL2004RxPdo::default(),
+            is_used: false,
+        }
+    }
+}
+
+impl DigitalOutputDevice<EL2004Port> for EL2004 {
+    fn set_output(&mut self, port: EL2004Port, value: DigitalOutputOutput) {
+        let expect_text = "All channels should be Some(_)";
+        match port {
+            EL2004Port::DO1 => {
+                self.rxpdo.channel1.as_mut().expect(expect_text).value = value.into()
+            }
+            EL2004Port::DO2 => {
+                self.rxpdo.channel2.as_mut().expect(expect_text).value = value.into()
+            }
+            EL2004Port::DO3 => {
+                self.rxpdo.channel3.as_mut().expect(expect_text).value = value.into()
+            }
+            EL2004Port::DO4 => {
+                self.rxpdo.channel4.as_mut().expect(expect_text).value = value.into()
+            }
+        }
+    }
+
+    fn get_output(&self, port: EL2004Port) -> DigitalOutputOutput {
+        let expect_text = "All channels should be Some(_)";
+        DigitalOutputOutput(match port {
+            EL2004Port::DO1 => self.rxpdo.channel1.as_ref().expect(expect_text).value,
+            EL2004Port::DO2 => self.rxpdo.channel2.as_ref().expect(expect_text).value,
+            EL2004Port::DO3 => self.rxpdo.channel3.as_ref().expect(expect_text).value,
+            EL2004Port::DO4 => self.rxpdo.channel4.as_ref().expect(expect_text).value,
+        })
+    }
+}
+
+#[derive(Debug, Clone)]
+pub enum EL2004Port {
+    DO1,
+    DO2,
+    DO3,
+    DO4,
+}
+
+#[derive(Debug, Clone, RxPdo)]
+pub struct EL2004RxPdo {
+    #[pdo_object_index(0x1600)]
+    pub channel1: Option<BoolPdoObject>,
+    #[pdo_object_index(0x1601)]
+    pub channel2: Option<BoolPdoObject>,
+    #[pdo_object_index(0x1602)]
+    pub channel3: Option<BoolPdoObject>,
+    #[pdo_object_index(0x1603)]
+    pub channel4: Option<BoolPdoObject>,
+}
+
+impl Default for EL2004RxPdo {
+    fn default() -> Self {
+        Self {
+            channel1: Some(BoolPdoObject::default()),
+            channel2: Some(BoolPdoObject::default()),
+            channel3: Some(BoolPdoObject::default()),
+            channel4: Some(BoolPdoObject::default()),
+        }
+    }
+}
+
+/// Identity constants for EL2004
+pub const EL2004_VENDOR_ID: u32 = 0x2;
+pub const EL2004_PRODUCT_ID: u32 = 131346514;
+pub const EL2004_REVISION_A: u32 = 1179648;
+pub const EL2004_IDENTITY_A: SubDeviceIdentityTuple =
+    (EL2004_VENDOR_ID, EL2004_PRODUCT_ID, EL2004_REVISION_A);
@@ -0,0 +1,13 @@
+# Electrical Diagrams
+
+This directory contains electrical wiring diagrams for various machines and systems supported by the control system.
+
+## Available Diagrams
+
+### Extruder
+- **Location**: [`extruder/`](extruder/)
+- **File**: [QiTech Pro Extruder Electrical Diagram 2025.pdf](extruder/QiTech_Pro_Extruder_Electrical_Diagram_2025.pdf)
+
+### Winder
+- **Location**: [`winder/`](winder/)
+- **File**: [QiTech Pro Winder Electrical Diagram.pdf](winder/QiTech_Pro_Winder_Electrical_Diagram.pdf)
@@ -11,6 +11,8 @@ A functionality can be virtually wired to any device that matches the IO type. E

 Functionalities of different machines should not be wired to the same devices because of possibly conflicting configuration and machine identification issues (which devices belong to what machine).

+The IO types provide direct synchronous methods for interacting with hardware, eliminating the need for actor patterns while maintaining clean abstractions.
+
 # Implemented IO types

 - Digital Output (DO)
@@ -35,13 +37,13 @@ pub enum EL2002Port {

 Then the device must implement the respective device trait like `DigitalOutputDevice`.

-The `digital_output_write` is used to set the desired level of the output of a given port.
+The `set_output` method is used to set the desired level of the output of a given port.

-The `digital_output_state` is used to read the current state of the output of a given port.
+The `get_output` method is used to read the current state of the output of a given port.

 ```rust
 impl DigitalOutputDevice<EL2002Port> for EL2002 {
-    fn digital_output_write(&mut self, port: EL2002Port, value: DigitalOutputOutput) {
+    fn set_output(&mut self, port: EL2002Port, value: DigitalOutputOutput) {
        let expect_text = "All channels should be Some(_)";
        match port {
            EL2002Port::DO1 => self.rxpdo.channel1.as_mut().expect(&expect_text).value = value.into(),
@@ -49,84 +51,95 @@ impl DigitalOutputDevice<EL2002Port> for EL2002 {
        }
    }

-    fn digital_output_state(&self, port: EL2002Port) -> DigitalOutputState {
+    fn get_output(&self, port: EL2002Port) -> DigitalOutputOutput {
        let expect_text = "All channels should be Some(_)";
-        DigitalOutputState {
-            output: DigitalOutputOutput(match port {
-                EL2002Port::DO1 => self.rxpdo.channel1.as_ref().expect(&expect_text).value,
-                EL2002Port::DO2 => self.rxpdo.channel2.as_ref().expect(&expect_text).value,
-            }),
-        }
+        DigitalOutputOutput(match port {
+            EL2002Port::DO1 => self.rxpdo.channel1.as_ref().expect(&expect_text).value,
+            EL2002Port::DO2 => self.rxpdo.channel2.as_ref().expect(&expect_text).value,
+        })
    }
 }
 ```

-## Implementing for an `Actor`
+## Using IO types in machine logic

-The `act` function of an `Actor` will be called after the inputs are read from the device and before the outputs are written for the next EtherCAT frame.
+IO types now provide direct synchronous methods for reading and writing values, making them easy to use in machine logic without async/await patterns.

-The actor needs to be constructed with the `DigitalOutput` and hold it in its struct.
 ```rust
 #[derive(Debug)]
 pub struct DigitalOutputToggler {
    output: DigitalOutput,
 }

-```
-
-Implementing the `act` function which will toggle the output every cycle.
-
-The `state` and `write` values are callbacks and must be wrapped with parentheses to be called.
-```rust
-fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-    Box::pin(async move {
-        {
-            let state = (self.output.state)().await;
-            match state.output.into() {
-                true => (self.output.write)(false.into()).await,
-                false => (self.output.write)(true.into()).await,
-            }
-        }
-    })
+impl DigitalOutputToggler {
+    pub fn new(output: DigitalOutput) -> Self {
+        Self { output }
+    }
+    
+    pub fn toggle(&mut self) {
+        let current_state = self.output.get();
+        self.output.set(!current_state);
+    }
+    
+    pub fn turn_on(&mut self) {
+        self.output.set(true);
+    }
+    
+    pub fn turn_off(&mut self) {
+        self.output.set(false);
+    }
 }
 ```

 ## Getting `DigitalOutput` from a `Device`
-With the `new` function of the `DigitalOutput` struct, you can create a new `DigitalOutput` instance from a device and its port. We can then provide this `DigitalOutput` instance to the `Actor` struct.
+With the `new` function of the `DigitalOutput` struct, you can create a new `DigitalOutput` instance from a device and its port. The IO type provides direct synchronous methods for interaction.
+
 ```rust
-let el2002 = EL2002::new();
+let el2002 = Arc::new(RwLock::new(EL2002::new()));
 let digital_output = DigitalOutput::new(el2002, EL2002Port::DO1);
-let actor = DigitalOutputToggler::new(digital_output);
+let mut toggler = DigitalOutputToggler::new(digital_output);
+
+// Direct usage
+toggler.turn_on();
+toggler.toggle();
 ```

 # Creating a new IO type
 To create a new IO type, we must know if it's writable (output) or readable (input), or combined (input/output) type.

-We first define the `DigitalOutput` struct with the `write` and `state` fields. Every IO needs a `state` field but only writable types need a `write` field.
-
-The `state` field is an async callback which returns the `DigitalOutputState` struct.
-
-The `write` field is an async callback which takes the value.
+For output types, we define the struct with sync closures for setting and getting values:

 ```rust
 pub struct DigitalOutput {
-    pub write: Box<dyn Fn(DigitalOutputOutput) -> Pin<Box<dyn Future<Output = ()> + Send>> + Send + Sync>,
-    pub state:
-        Box<dyn Fn() -> Pin<Box<dyn Future<Output = DigitalOutputState> + Send>> + Send + Sync>,
+    set_output: Box<dyn Fn(DigitalOutputOutput) -> () + Send + Sync>,
+    get_output: Box<dyn Fn() -> DigitalOutputOutput + Send + Sync>,
 }
 ```

-Next, we need to implement the `DigitalOutputState` and `DigitalOutputOutput` structs.
+For input types, we only need the getter:

-The `DigitalOutputState` contains the timestamps of the output (and inputs if applicable) and the `DigitalOutputOutput` struct (and the input struct if applicable). This is the return type of `DigitalOutput::state`.
-
-The `DigitalOutputOutput` is both contained in the `DigitalOutputState` and is the input type of the `DigitalOutput::write` function. It implements the `From` trait in both directions to `bool` to allow easy access to the inner value on this simple type (as seen in the `act` example above).
 ```rust
-#[derive(Debug, Clone)]
-pub struct DigitalOutputState {
-    pub output: DigitalOutputOutput,
+pub struct DigitalInput {
+    get_input: Box<dyn Fn() -> Result<DigitalInputInput, anyhow::Error> + Send + Sync>,
 }
+```

+For combined input/output types, we have separate getters for input and output:
+
+```rust
+pub struct StepperVelocityEL70x1 {
+    set_output: Box<dyn Fn(StepperVelocityEL70x1Output) -> Result<(), Error> + Send + Sync>,
+    get_output: Box<dyn Fn() -> Result<StepperVelocityEL70x1Output, Error> + Send + Sync>,
+    get_input: Box<dyn Fn() -> Result<StepperVelocityEL70x1Input, Error> + Send + Sync>,
+    // ... additional closures as needed
+}
+```
+
+Next, we need to implement the input and output structs separately.
+
+For a digital output, we only need the output struct:
+
+```rust
 /// Output value
 /// true: high
 /// false: low
@@ -146,8 +159,35 @@ impl From<DigitalOutputOutput> for bool {
 }
 ```

-Now we need to implement the constructor for a `DigitalOutput` instance. The `new` function takes a device and a port and returns a `DigitalOutput` instance.
-We need to construct the async closures which is a bit of type madness since we also need to move the device `Arc` into them.
+For input types, we define input structs:
+
+```rust
+#[derive(Debug, Clone)]
+pub struct DigitalInputInput {
+    pub value: bool,
+}
+```
+
+For combined input/output types, we define both structs separately, avoiding the need for state containers.
+
+```rust
+pub struct DigitalOutputOutput(pub bool);
+
+impl From<bool> for DigitalOutputOutput {
+    fn from(value: bool) -> Self {
+        DigitalOutputOutput(value)
+    }
+}
+
+impl From<DigitalOutputOutput> for bool {
+    fn from(value: DigitalOutputOutput) -> Self {
+        value.0
+    }
+}
+```
+
+Now we implement the constructor for the IO type. The `new` function takes a device and port and returns the IO instance with sync closures:
+
 ```rust
 impl DigitalOutput {
    pub fn new<PORT>(
@@ -157,46 +197,75 @@ impl DigitalOutput {
    where
        PORT: Clone + Send + Sync + 'static,
    {
-        // build async write closure
+        // build sync write closure
        let port1 = port.clone();
        let device1 = device.clone();
-        let write = Box::new(
-            move |value: DigitalOutputOutput| -> Pin<Box<dyn Future<Output = ()> + Send>> {
-                let device_clone = device1.clone();
-                let port_clone = port1.clone();
-                Box::pin(async move {
-                    let mut device = device_clone.write().await;
-                    device.digital_output_write(port_clone, value);
-                })
-            },
-        );
+        let set_output = Box::new(move |value: DigitalOutputOutput| {
+            let mut device = block_on(device1.write());
+            device.set_output(port1.clone(), value);
+        });

-        // build async get closure
+        // build sync get closure
        let port2 = port.clone();
        let device2 = device.clone();
-        let state = Box::new(
-            move || -> Pin<Box<dyn Future<Output = DigitalOutputState> + Send>> {
-                let device2 = device2.clone();
-                let port_clone = port2.clone();
-                Box::pin(async move {
-                    let device = device2.read().await;
-                    device.digital_output_state(port_clone)
-                })
-            },
-        );
-        DigitalOutput { write, state }
+        let get_output = Box::new(move || -> DigitalOutputOutput {
+            let device = block_on(device2.read());
+            device.get_output(port2.clone())
+        });
+
+        DigitalOutput {
+            set_output,
+            get_output,
+        }
+    }
+
+    /// Set the digital output value
+    pub fn set(&self, enabled: bool) {
+        (self.set_output)(enabled.into());
+    }
+
+    /// Get the current output value
+    pub fn get(&self) -> bool {
+        let output = (self.get_output)();
+        output.into()
    }
 }
 ```

-Lastly, we can create the `DigitalOutputDevice` trait which needs to be implemented by the device.
+Lastly, we create the device trait that needs to be implemented by devices. The trait methods are simplified and separated by input/output:
+
 ```rust
 pub trait DigitalOutputDevice<PORT>: Send + Sync
 where
    PORT: Clone,
 {
-    fn digital_output_write(&mut self, port: PORT, value: DigitalOutputOutput);
-    fn digital_output_state(&self, port: PORT) -> DigitalOutputState;
+    fn set_output(&mut self, port: PORT, value: DigitalOutputOutput);
+    fn get_output(&self, port: PORT) -> DigitalOutputOutput;
 }
+```

+For input devices:
+
+```rust
+pub trait DigitalInputDevice<PORT>: Send + Sync
+where
+    PORT: Clone,
+{
+    fn get_input(&self, port: PORT) -> Result<DigitalInputInput, anyhow::Error>;
+}
+```
+
+For combined input/output devices:
+
+```rust
+pub trait StepperVelocityEL70x1Device<PORT>: Send + Sync
+where
+    PORT: Clone,
+{
+    fn set_output(&mut self, port: PORT, value: StepperVelocityEL70x1Output) -> Result<(), Error>;
+    fn get_output(&self, port: PORT) -> Result<StepperVelocityEL70x1Output, Error>;
+    fn get_input(&self, port: PORT) -> Result<StepperVelocityEL70x1Input, Error>;
+    // Additional methods as needed for specific device functionality
+    fn get_speed_range(&self, port: PORT) -> SpeedRange;
+}
 ```
@@ -1,980 +0,0 @@
-# Operating Instructions
-
-Original operating instructions
-
-QiTech Industries
-
-Weichselstraße 9, 67574 Osthofen,
-
-Germany
-
---
-
-# JARVIS Pro Winder
-
-# EC Declaration of Conformity
-
-according to 2006/42/EC, Annex II, No. 1 A
-
-The content of the EC Declaration of Conformity corresponds to Annex II, No. 1 A, of Directive
-2006 / 42 /EC.
-
-Manufacturer of the machine:
-
-```
-QiTech Industries GmbH
-Weichselstraße 9
-67574 Osthofen Authorised
-```
-representative of the manufacturer:
-
-
-Simon Kolb
-
-Salzgasse 6
-
-67574 Osthofen Machine
-
-under consideration:
-
-We hereby declare that the above mentioned machine is in conformity with all relevant provisions
-of the EC Machinery Directive 2006/42/EC. The machine is also in compliance with all relevant
-provisions of the following EC Directives:
-
- 2014 / 30 /EU Electromagnetic Compatibility / European EMC Directive
- 2014/35/EU Low Voltage Directive (protection objectives only)
- 2011/65/EU ROHS Directives (ROHS 2 )
-
-The following harmonised standards (or parts of these standards) have been applied
-
- DIN EN ISO 12100
-
-```
-General designation Filament winding machine
-function Winding and rewinding of filaments
-Model JARVIS Pro Winder
-type Filament winding machine
-Serial number PB- 5 W HTL- 02
-Trade name JARVIS Pro Winder
-Year of manufacture 2024
-```
-
-Darmstadt,
-15 / 03 / 2023
-
-_Note: References of the EC directives, harmonised standards and standards and specifications can be found in the
-standards search_
-
-```
-Darmstadt, 26/10/
-```
-Mr Kolb
-
-
-# Operating instructions based on DIN
-
-# EN ISO 20607
-
-```
-Designation JARVIS Pro Winder
-Year of manufacture 2024
-Manufacturer: QiTech QiTech Industries GmbH
-Administrator Simon Kolb
-Salzgasse 6
-67574 Osthofen
-```
-```
-Date of issue 11 April 2023
-Publication version V1.0 - German
-```
-
-Read before commissioning!
-
-These operating instructions are intended to enable all persons working on the machine to carry
-out their work safely and correctly.
-
-Every person who operates, maintains or repairs the machine must have read the operating
-instructions, in particular the safety regulations, before commissioning.
-
-These operating instructions must be available on the machine at all times. The operator
-must ensure that all information necessary for the safe operation of the machine is made
-available to the operating personnel. If the operating instructions are available in electronic
-form, the operator must ensure that the operating personnel are able to view the operating
-instructions.
-
-The original version of these operating instructions is written in German.
-
-We therefore ask you to read through the relevant instructions carefully and to observe them
-thoroughly.
-
-After unpacking the machine, check for any damage that may have occurred during
-transport.
-
-ATTENTION: Before using the machine for the first time, please inform yourself about the national
-regulations (occupational safety, environment).
-
-Reproduction and reprinting in any form, even in extracts, requires the written authorisation of
-QiTech Industries.
-
-
-## Table of contents
-
- 1 Machine description
- 1.1 Noise emissions
- 1.2 General, important safety instructions
- 1.3 Description of the pictograms, symbols and warnings used
- 1.4 Intended use.............................................................................................................................................
- 1.5 Reasonably foreseeable misuse................................................................................................................
- 1.6 Significant change / other use
- 1.7 Description of the safety devices
- 1.8 Instruction and training............................................................................................................................
- 1.9 Noise emissions from the machine during activities
- 2 Life phases of the machine
- 2.1 Transport and assembly
- 2.2 Assembly, installation and commissioning
- 2.3 Operation and control (work sequence)
- 2.4 Maintenance, inspection, testing
- 2.5 Troubleshooting and fault rectification....................................................................................................
- 2.6 Dismantling, decommissioning and disposal
- 3 Hazard warning and information on residual risks
- 4 Glossary and definitions
-
-
-## 1 Machine description
-
-
-```
-Item number Item number Description
-```
-```
-1 Spool axis
-```
-```
-2 Coil quick-release fastener
-```
-```
-3 Grooved plate
-```
-```
-4 Traverse
-```
-```
-5 Installer
-```
-```
-6 Laser diode
-```
-```
-7 Load arm
-```
-```
-8 Weight disc
-```
-```
-9 Puller rollers
-```
-```
-10 Filament guide
-```
-```
-11 Emergency stop switch
-```
-```
-12 24V 10A power supply unit
-```
-```
-13 USB-A to USB-C cable
-```
-```
-14 Driver (mandrel)
-```
-```
-15 Underframe (optional)
-```
-## 1.1 Noise emissions
-
-Sound power level (LWAC)
-
-```
-Specification Value Unit
-Idle mode <70 dB
-```
-Workplace-related emission value (LPAC)
-
-```
-Specification Value Unit
-Idle mode <70 dB
-```
-Noise emission specification according to DIN 45649 Part 1
-
-
-Noise measurement method and operating condition acc: DIN 45635 Part 16 and Part 1605
-
-Accuracy class: 2
-
-## 1.2 General, important safety instructions
-
-1. Only professionally trained persons may operate the machine. The guarantee and warranty will
-    be invalidated if damage is caused by improper operation.
-2. We would like to point out that no liability is accepted for damage caused by failure to observe these
-    operating instructions.
-3. The operator of the machine must ensure that at least one copy of the operating instructions is kept in
-    the immediate vicinity of the machine and is accessible to persons working with the machine.
-4. The operator must ensure that the safety and danger notices on the machine are observed and that the
-    signs are clearly legible.
-5. Never work without the prescribed personal protective equipment (e.g. safety footwear).
-6. Wear close-fitting clothing and a hairnet if you have long hair. Do not wear loose or baggy clothing
-    (ties, shirt sleeves, jewellery, etc.).
-7. Activities with a risk of entrapment may only be carried out without gloves. If gloves are required for
-    individual activities, the machine must first be brought into a safe condition.
-8. If the emission sound pressure level at the workplace exceeds 80 dB (A), hearing protection must be worn.
-9. Never leave the machine in operation without supervision.
-10. Secure your machine so that it cannot be switched on by children. Persons who have not been
-    instructed must not operate the machine.
-11. Before using the machine, make sure that it is in perfect condition (carry out a visual inspection before
-    starting work). Pay particular attention to any damage to the earthing contact plug or the electrical
-    connection. Never use the machine with defective, crushed or bare cables.
-12. Insert the earthing contact plug into an earthing contact socket suitable for the machine. The supply cable
-    for the machine may only be connected to a socket outlet with earthing contact or a connection box. Have
-    the socket outlet or connection box checked by a qualified electrician beforehand.
-13. During maintenance and cleaning work, the machine must be switched off and the earthing contact
-    plug disconnected. Work on the electrical equipment of the machine may only be carried out by
-    qualified electricians. The safety regulations for electrical engineering must be observed:
-    - Switch off the machine
-    - Disconnect the USB connection
-    - Secure the machine against being switched on again
-
-
-14. Have the machine de-energised by a qualified electrician
-15. Earth and short-circuit the machine
-16. Cover or isolate neighbouring live parts
-17. Do not reach into moving parts of the machine.
-18. Keep a safe distance from rotating parts of the machine. Only change the bobbin when the bobbin axis is stationary.
-19. Keep the work area clean. Do not place any objects on the machine.
-20. Always switch off the machine when you are not using it.
-21. Stay with the machine until it has come to a standstill.
-22. Repairs may only be carried out by qualified specialist personnel! Repair work may only be carried out by persons who are qualified for the repair work in question and who are familiar with the relevant occupational safety regulations.
-23. Protect the machine from moisture.
-24. Check the machine regularly for damage. Only replace damaged parts with original parts and have them
-replaced by qualified specialists. The guarantee and warranty will be invalidated if accessories and spare
-parts are used that are not authorised for the machine.
-1.  To avoid inadequate lighting, we recommend installing light sources in accordance with national
-health and safety regulations (e.g. workplace directive).
-1.  All persons working on the machine must be trained on the basis of these operating instructions before
-starting work. In particular, persons working on the machine must be familiarised with the safety
-markings described in chapter 1.3.
-
-```
-Danger!
-Danger to life due to technically faulty machine
-The machine may only be used when it is in perfect technical condition and in accordance with
-its intended use, in a safety-conscious and hazard-conscious manner and in compliance with
-these operating instructions. All faults, especially those that could impair safety, must be
-rectified immediately before starting the winder.
-Everyone who works on or with the JARVIS Pro Winder is responsible for observing these safety
-aspects!
-```
-
-## 1.3 Description of the pictograms, symbols and warnings used
-
-```
-Warning signs Mandatory sign
-Pictogram Description of pictogram Pictogram Pictogram Description
-```
-```
-W001 General warning sign M001 General warning sign
-Mandatory sign
-The combination of the
-symbol W001 and the
-signal word " Danger "
-indicates an
-indicates an imminently
-hazardous situation which, if
-not avoided
-death or serious injury if it is
-not avoided.
-```
-```
-This combination of symbol
-and signal word
-indicates a potentially
-hazardous situation which, if
-not avoided, may result in
-damage to property or the
-environment.
-not avoided.
-The combination of the
-symbol W001 and the signal
-word " Warning " indicates an
-imminently hazardous
-situation which, if not avoided,
-will result in death or serious
-injury.
-death or serious injury if it is
-not avoided.
-```
-```
-The combination of the
-symbol W001 and the signal
-word " Caution " indicates an
-indicates an imminently
-hazardous situation which, if
-not avoided
-death or serious injury if not
-avoided.
-```
-W008 Warning of risk of falling M003 Use hearing protection
-
-
-W011 Warning of
-
-danger of slipping
-
-M004 Use eye protection
-
-W004 Warning of laser beam M008 Use foot protection
-
-W012 Warning of electrical
-
-voltage
-
-M009 Use hand protection
-
-W017 Warning of hot surface M010 Use protective clothing
-
-W018 Warning
-
-against automatic
-
-start-up
-
-M012 Use handrail
-
-W019 Warning of crushing
-
-hazard
-
-```
-M021 Switch off before
-maintenance or repair
-```
-W024 Warning against hand
-
-injuries
-
-M014 Use head protection
-
-W025 Warning
-
-against counter-
-
-rotating rollers
-
-W016 Warning of toxic
-
-substances
-
-
-**Prohibition signs International pictograms / other**
-
-**Pictogram Pictogram description Pictogram Pictogram Description**
-
-```
-P001 General
-prohibition sign
-```
-F001 Fire extinguisher
-
-P002 No smoking ANSI Z535.3 - DANGER
-
-```
-P003 No naked flames; fire,
-open source of ignition and
-smoking prohibited
-```
-ANSI Z535.3 - WARNING
-
-```
-P006 Prohibited for industrial
-trucks
-```
-ANSI Z535.3 - CAUTION
-
-```
-P009 Climbing prohibited -
-In the sense of climbing
-prohibited for unauthorised
-persons
-```
-ANSI Z535.3 - NOTICE
-
-```
-P022 Eating and drinking
-prohibited
-```
-```
-ANSI Z535.3 - SAFETY
-INSTRUCTIONS
-```
-```
-P024 Entering the area
-prohibited
-```
-```
-Symbol for separate collection
-of waste electrical and
-electronic equipment
-```
-P031 Switching prohibited
-
-```
-D-P006 Access prohibited for
-unauthorised persons
-```
-
-## 1.4 Intended use.............................................................................................................................................
-
-The JARVIS Pro Winder is designed for winding and rewinding filaments between 1 mm and 3 mm.
-
-The winder must be placed on a stable, level surface or a braked trolley and secured if necessary. The test and
-work sequence is described in chapter 3.4 Work sequence.
-
-When using the winder, it is essential that the work steps described in the chapter "Work sequence" or in the
-operating instructions are followed.
-
-In the event of significant changes or deviations, it is necessary to carry out a new risk assessment in
-accordance with the Machinery Directive and to document the changes in the corresponding documents.
-
-The machine is designed exclusively for use inside buildings. The machine must not be
-operated in potentially explosive atmospheres.
-Use in the area of food production is prohibited.
-
-Use of the machine for purposes other than those specified is prohibited.
-
-Other intended uses include cleaning and maintenance work as well as troubleshooting, fault rectification and
-repair.
-
-## 1.5 Reasonably foreseeable misuse................................................................................................................
-
-**Reasonably foreseeable misuse** exists in particular when winding unsuitable filaments:
-
- Filaments that are difficult to bend
- Easily tearable filaments
- Filaments outside the permitted diameter range of 1mm - 3mm
- Filaments with a surface temperature of> 50°C
- Particularly flat, sharp-edged or pointed filaments
-
-In addition, the following procedures must be regarded as misuse:
-
- Operating the winder on an uneven surface or in a position other than the intended horizontal position
-or on an unbraked trolley.
- The use of unauthorised coil sizes.
- Use of spare parts and components not authorised by the manufacturer.
-
-
- Operating the winder without supervision or in ghost shifts.
-
-Figure 1: Authorised coil sizes
-
-Furthermore, there is always the possibility that existing/provided safety guards are dismantled or the
-existing sensors are manipulated or triggered by means other than the intended components.
-
-The **misuse** mentioned must be explicitly prohibited with reference to these operating instructions and by written
-operating instructions, and the use of the winder must also be explicitly restricted in the operating instructions to
-the intended use mentioned above.
-
-Maintenance and repair of the machine may only be carried out by the manufacturer's employees, trained
-skilled workers or semi-skilled and trained personnel.
-
-## 1.6 Significant change / other use
-
-Any use of the machine other than the intended use is prohibited and is considered improper use. Claims of
-any kind against the manufacturer or its authorised representatives due to damage resulting from improper
-use of the machine are excluded. The operator alone is liable for all damage caused by improper use.
-
-## 1.7 Description of the safety devices
-
-**Emergency stop devices or emergency stop devices**
-
-
-```
-Figure 2: Emergency stop or emergency stop command device
-```
-The emergency stop switch is used to quickly stop the machine in the event of danger. It can be reached from
-all positions in front of the machine. When an emergency stop device is actuated, the entire machine is
-stopped by disconnecting the mains supply.
-
-Hazardous movements are brought to a controlled standstill as quickly as possible. The machine can only be
-restarted by physically resetting the emergency stop switch and then starting one of the operating modes in
-the software.
-
-**Overheating protection**
-If one of the motor drivers becomes too hot, it switches off automatically and sends an error message to the
-control system. This then stops all other components of the machine.
-
-**Spool stop in the event of filament breakage**
-If the filament tears during winding, the spool stops automatically after a short time.
-
-**Separating protective devices:**
-
-The housing clad with aluminium Dibond plates prevents contact with hot motors, interference with the drive
-spindle of the traverse and manipulation of the electronics. It also prevents electrostatic charges from jumping
-from the filament to the electronics.
-
-If guards are opened or removed for maintenance work, they must be closed or refitted before the machine is
-switched on again. It is not permitted to operate the machine without all properly installed and operational
-protective devices.
-
-## 1.8 Instruction and training............................................................................................................................
-
-As the contractor/operator, you are obliged to inform and instruct the operating personnel about existing legal
-and accident prevention regulations as well as about existing safety equipment on the winder. This obligation
-also extends to safety equipment installed around the winder. The various technical qualifications of the
-employees must be taken into account.
-
-
-The operating personnel must have understood the instruction and it must be ensured that the instruction is
-observed.
-
-This is the only way to ensure that your personnel work in a safety and hazard-conscious manner. Compliance with
-the contents of the instruction should be checked regularly.
-
-As the owner/operator, you must therefore obtain written confirmation from each employee that they have
-attended an instruction session.
-
-## 1.9 Noise emissions from the machine during activities
-
-The noise emissions of the machine were measured on the same machine types. Under normal operating
-conditions, the maximum noise emission of the extruder is below the maximum permitted values.
-
-Depending on the activity or the duration of the activity, the operator must determine whether suitable hearing
-protection is required as part of a risk assessment.
-
-
-## 2 Life phases of the machine
-
-## 2.1 Transport and assembly
-
-**Requirements for the installation site**
-
- Installation only in industrial and commercial indoor areas.
- The surface must be level and solid.
- The location must be as fire-free as possible and equipped with a fire extinguisher.
-
-## 2.2 Assembly, installation and commissioning
-
-**Basic installation**
-
-If the winder is supplied without a base, it must be screwed to the surface with M8 screws at each of the four
-corners.
-
-If the Winder is supplied with a mobile container, the parking brakes must be applied.
-
-In both cases, the cables must be routed in such a way that they cannot be tripped over.
-
-**Installing the JARVIS Control Software**
-
-The machine is controlled using the specially designed JARVIS Control software. This can either be obtained
-from the manufacturer's website or installed on a Windows or MacOS system from the enclosed USB stick.
-Follow the instructions in the software to install the required drivers and establish a connection with the
-winder via the USB cable.
-
-```
-Caution!
-Danger to life due to incorrect installation and commissioning!
-Errors during installation can lead to life-threatening situations or cause considerable damage to
-property.
-Installation and commissioning may only be carried out by the manufacturer's employees.
-```
-```
-Danger!
-Risk of injury due to improper transport.
-Be careful when loading the machine, do not place any limbs under the parts when setting them
-down, do not stand under suspended loads or between moving loads and walls or machine parts.
-Wear personal protective equipment: safety shoes, protective work clothing, protective gloves
-```
-
-Some important safety measures must be observed to ensure safe operation of the extruder:
-
- It is important to only use original fuses with the prescribed current ratings to avoid overloading.
- If inspection, maintenance and repair work is carried out on electrical components, these must be de-
-    energised beforehand. Equipment that has been disconnected must be secured against unintentional
-    or automatic reconnection. First check that there is no voltage and insulate neighbouring live
-    components.
- Care must be taken to ensure that design features are not modified in such a way as to reduce safety.
- If it is necessary to work on live components, an additional person should be called in to operate
-    the emergency stop button or the main switch in an emergency.
- Only voltage-insulated tools and appropriate clothing may be used.
- Proper earthing of the electrical system must be ensured by protective conductor systems.
- Cables must be checked regularly for damage and replaced if necessary.
-
-## 2.3 Operation and control (work sequence)
-
-A visual inspection must be carried out every working day before the machine is started
-
-up. Then start the machine as follows:
-
-1. Switch on the machine by plugging in the mains plug
-    - Connect the machine to the control software
-    - Connect the USB cable to the PC
-    - Follow the instructions in JARVIS Control
-    - Winder then appears in the "Machines" tab of the software
-2. Mount the bobbin on the bobbin axle
-    - Remove the quick-release fastener
-    - Move the driver in the groove to the height of the hole in the coil flank
-    - Slide the bobbin over the axle and the driver
-    - Tighten the quick-release fastener again
-3. Calibrating the bobbin sides
-    - Select "Calibrate" in the function bar of the software
-    - Move the "Endstops" slider to the approximate position of the inside of the bobbin
-    - Click on "Calibrate" again
-    - using the laser dot, repeat the previous steps and fine-tune until the dot is exactly on the edge
-       of the inner bobbin flank
-    - Repeat the same process for the other outer coil flank
-4. Adjust the filament diameter
-
-
- Adjust the diameter of the filament in the Settings tab (1.75 mm by default)
- Select "Pull in" in the function bar
- Thread the filament through the puller rollers (be careful, counter-rotating rollers!)
- For extrusion: Use the "Puller Speed" slider to manually adjust the speed until the filament has
-    the desired diameter
-5. Start winding
- Depending on the winding speed and the desired winding pressure, load the load arm with the
-appropriate number of weighted discs (slow winding with few discs, fast winding with more
-discs)
- Rotate the load arm upwards and place it on the puller
- Press the "Wind" button
- Thread the filament coming out of the puller through the feeder into the spool and fix it there
- Place the load arm on the filament strand from above
-6. Change the spool
- Press the "Pull in" button
- Remove the spool as described above and insert a new spool
- Continue winding by clicking on "Wind"
-7. Stopping the winding process
- "Standby" mode - motors energised but not in motion or
- Select "Off" mode - no current on the motors
- If the filament gets caught, the spool spins or there is a danger to persons, press the emergency
-stop button
-8. Switch off the machine by disconnecting the mains connection and the USB cable
-
-**Unwinding filament**
-
- Mount the filament roll to be unwound onto the spool axle
- Select the "Pull out" function
- Feed the filament through the puller rollers in the opposite direction to winding (caution,
-    counter-rotating rollers!)
- Omit the traverseer and fold the load arm upwards
-
-**Changing process variables during operation**
-All settings such as the position of the spool sides, the winding speed or the filament diameter can also be
-adjusted during the winding process without interrupting it. To do this, change the value in the relevant field
-and click the "Wind" button again to apply it. As soon as a setting has been changed, it is marked with an
-orange bar.
-
-**Rewinding filament - not all winder versions**
-
- Mount the full spool on the holder provided for this purpose
-
-
- Mount the empty bobbin on the bobbin axle
- Calibrate the winding sides and set the filament width
- Slightly increase the pressure on the axle with the full spool using the rotary wheel on the top of the
-    housing
- Guide the filament from the full spool over the feeder and fix it to the spool
- Click on "Rewind" in the Jarvis Control function bar
- Adjust the rewinding speed using the slider
-
-**Automatically tune the winding speed to the desired diameter**
-
- Ensure that both a DRE and the winder are connected to Jarvis Control
- Ensure that the extruder has a constant output of +-1% fluctuation
- Enter the distance between the DRE measuring window and extruder nozzle in the "Settings" tab
- Start the winding process as usual via "Wind"
- Activate the "Sync to DRE" button next to the "Puller Speed" slider
- Wait approx. 10 minutes until the filament diameter is within the range of the set value
-
-**Stop the winding process automatically after a certain number of metres**
-
- Activate the "Auto stop winding or pulling" option
- Select target length, target mode and alarm settings
- Click on "Wind" or "Pull" in the function bar
- As soon as the blue progress bar has reached the right-hand edge of the screen, the desired
-    number of metres has been wound and the winder automatically switches to the specified mode
-
-
-Figure 3: View of the winder control in Jarvis Control
-
-## 2.4 Maintenance, inspection, testing
-
-Maintenance and servicing work on the machine may only be carried out by
-only be carried out by reliable, trained personnel. The minimum age required by law in the country of use must be
-observed!
-Personnel to be trained, instructed or undergoing general training may only work on the Winder under the
-constant supervision of an experienced person!
-
-**Updating the Winder software**
-There are regular updates for the "JARVIS Control" software, which may contain bug fixes as well as new
-functions or security updates. It is therefore recommended that you regularly check the manufacturer's
-website for new versions of the control software. Updates for the machine software itself and installation
-instructions may also be provided there.
-
-```
-Danger!
-Danger to life due to operation of the machine in faulty condition
-If safety-relevant changes or defects occur on the
-If safety-relevant changes or defects occur on the machine, shut down immediately, secure against
-restarting and report the process to the responsible office/person!
-```
-
-**Lubricating the traverse spindle**
-The threaded spindle must be re-oiled after approx. 20 operating hours, but at the latest when the traverser no
-longer moves to the desired position because the motor is spinning.
-To do this, loosen the plate on the top of the housing with an M5 Allen key and drizzle commercially available
-lubricating oil or grease, e.g. WD40, over the entire length of the threaded spindle.
-
-**Retightening screw connections**
-After approx. 100 operating hours, the rear panel of the winder should be removed using an M5 Allen key so that
-the screw connections inside the housing can be retightened. The following should be checked:
-
- Grub screws of the motor couplings (puller, traverse, coil)
- Fastening screws of the motors (puller, traverse, coil)
- Fastening screws of the angle sensor of the load arm All
-
-should be tightened at least hand-tight.
-
-**Replacing the puller rollers**
-The polyurethane coating of the puller rollers will inevitably wear out over time. As soon as you notice the
-filament slipping through the rollers, they should be replaced. Suitable spare parts are available from the dealer.
-To replace them, the rear panel must be removed and the screws of the puller panelling loosened from the
-rear. The connection between the motor axle and rollers must also be disconnected. By loosening a few screws
-on the front panelling on the side of the puller, it is possible to remove the panelling by bending it slightly. The
-rollers can now be pulled off the axles and replaced.
-
-## 2.5 Troubleshooting and fault rectification....................................................................................................
-
-**Machine is not recognised by JARVIS Control**
-
- Is the USB cable connected?
- Are the drivers listed in the software installed correctly?
- Is the latest version of JARVIS Control installed?
- Is the device displayed in the "Device Manager" (Windows)?
-**Filament tears off frequently**
- Was the filament sufficiently cooled before winding?
- Have the weights been removed from the load arm?
- Is the filament within the permitted diameter range of 1mm - 3mm?
-
-**Puller rollers are scored**
-It is normal for the puller rollers to wear out over time. However, some options can be checked
-
-**Caution!**
-
-```
-Observe the instructions for maintenance work when servicing the machine!
-```
-
-can be checked:
-
- Is the surface temperature< 50°C when the filament runs through the rollers?
- Is the filament slipping through the rollers instead of being conveyed by them, causing more
-    abrasion?
- Is the tension of the filament too strong? Adjust with weights if necessary.
-
-**Filament is not wound perfectly parallel**
-
- How large is the inner diameter of the spool on which the filament is wound? The closer the winding is
-    to the traverse, the better the winding pattern will be.
- Have the spool sides been calibrated as described?
- Has the correct filament diameter been set?
- Have you tried to fine-tune the two settings independently of the procedure described here?
- Does the problem already occur in the first layer, or only afterwards? If the first layer is not perfectly
-    wound (e.g. due to skewed threading), the filament in the subsequent layers always slips into the
-    gaps in the winding below and "perfect winding" can no longer take place.
-
-**Winder suddenly switches off**
-One of the motor drivers has probably overheated. To prevent uncontrolled winding behaviour, the controller
-therefore switches off the entire winder. It is advisable to wait approx. 5 minutes and try winding again. If the
-error occurs frequently, a lower ambient temperature (optionally housing temperature) must be ensured.
-
-**Load adjustment does not work correctly at high or low speeds**
-The sensor inside the housing has probably twisted and the load adjustment range has therefore shifted
-upwards or downwards. To rectify this, turn the angle sensor back and tighten its screws as described in
-"Tightening screw connections".
-
-## 2.6 Dismantling, decommissioning and disposal
-
-When the machine has reached the end of its planned service life, it is recommended that the manufacturer be
-contacted for the purpose of taking it back free of charge. If this is not possible, the machine must be taken out
-of service permanently and then disposed of or scrapped properly.
-
-To do this, first disconnect the entire power supply. All components must then be separated by material class to
-enable subsequent recycling or differentiated scrapping.
-
-The machine consists largely of aluminium and plastic and can be easily separated by loosening the screw
-connections. Electrical scrap, plastic, rubber seals, lubricants and other auxiliary materials must be
-disposed of separately by an authorised specialist company.
-
-
-## 3 Hazard warning and information on residual risks
-
-```
-Danger!
-Automatic speed adjustment of puller, reel and traverse
-The bobbin automatically adjusts its speed to keep the winding pressure constant.
-```
-```
-Danger!
-Electrostatic charges on the puller and spool
-Friction of the filament on the puller rollers and on the spool can lead to electrostatic charges.
-There is a risk of minor electric shocks! Do not touch the affected areas, but keep a sufficient
-distance!
-```
-```
-Danger!
-Electric
-shock
-Before carrying out any repair, set-up or maintenance work, the winder must be de-energised
-by disconnecting the mains plug!
-Pull out the mains plug!
-```
-```
-Danger!
-Danger of cutting tensioned filament
-The stretched filament must not be touched between the puller and the spool. Danger of
-cutting! Do not wind any pointed, sharp-edged or particularly thin materials!
-```
-```
-Danger!
-Operation only permitted with protective devices fitted!
-The winder may only be operated with properly fitted and functioning safety guards. The operator
-is responsible for
-operator is responsible for ensuring that all protective devices are properly fitted.
-```
-```
-Danger!
-Danger of getting caught, pulled in or pulled along by moving parts of the
-machine
-Do not wear loose long hair, loose clothing or jewellery! There is always a risk of getting caught,
-pulled in or pulled along by moving parts!
-```
-```
-Appliances with this logo on the packaging or on the appliance must be
-disposed of separately. These devices must not be disposed of
-disposed of with normal household waste. You are responsible for
-ensuring that any electrical or electronic waste is disposed of at the
-appropriate locations, e.g. recycling centres.
-```
-
-**Danger!
-Risk of crushing between the traversing unit and machine housing**
-Exercise extreme caution when moving the traverser towards the housing! Do not place any limbs
-in the gap!
-
-**Danger!
-Risk of crushing when threading the filament**
-Exercise extreme caution when threading the filament through the puller rollers! There is a risk of
-crushing between the upper and lower pair of rollers.
-
-**Danger!
-Feeding of body parts**
-Extreme caution is required in the area of the puller and spool axle! There is an acute danger of
-getting caught or pulled in!
-Make sure you wear close-fitting clothing!
-Always keep the emergency stop switch within easy reach so that it can be activated immediately
-in an emergency!
-
-The traverse automatically adjusts its speed to the reel in order to maintain the same travel
-distance per revolution.
-In "Sync to DRE" mode, the puller automatically adjusts its speed to achieve the correct
-filament diameter.
-
-
-## 4 Glossary and definitions
-
-**Specialised personnel**
-Due to their specialist training, knowledge and experience as well as knowledge of the relevant regulations,
-skilled personnel are able to carry out the work assigned to them and to recognise and avoid potential
-hazards independently.
-It is assumed that specialised personnel have also been instructed (see definition of instructed person).
-
-**Instructed person**
-The instructed person has been instructed by the operator on the tasks assigned to them and the potential
-hazards associated with improper behaviour. The correct execution of the activities is monitored by specialised
-personnel.
-
-**Qualified electrician******
-A qualified electrician is someone who is able to assess the work assigned to them and recognise potential
-hazards based on their technical training, knowledge and experience as well as knowledge of the relevant
-regulations.
-
-**Operator**
-The operator is the person who uses, adjusts and monitors the machine in day-to-day operation. He is
-characterised by experience in handling the machine as well as in-depth knowledge of its functions
-and how to proceed in the event of a fault.
-
-**Employment ban**
-The following persons may not work on the machine
-
- Persons with skin diseases
- Persons with chronic respiratory problems or a tendency to allergic reactions
- Pregnant women and nursing mothers
-
-```
-Danger!
-Risk of injury if insufficiently qualified!
-Improper handling can lead to considerable personal injury and damage to property.
-```
- Special activities may only be carried out by the persons specified in the relevant sections of
-these instructions
-
-
-**Life phases of the machine / system**
-
-```
-Life phase
-of the machine/system
-```
-```
-User/qualification
-```
-```
-Construction - Commissioning
-A Construction Trained and instructed specialised personnel of the manufacturer
-B Transport Trained and instructed specialist personnel of the manufacturer or forwarding
-agent/transporter
-C Installation
-Commissioning
-```
-```
-Trained and instructed specialist personnel of the manufacturer or service
-technician of the manufacturer
-Deployment/use
-D Automatic operation
-E Semi-automatic operation
-F Setting/adjusting/restarting the
-system
-G Testing
-```
-```****
-Instructed personnel of the operator
-```
-```
-H Eliminating faults in the work
-process
-```
-```
-Trained and instructed specialised personnel of the operator or service
-technicians of the manufacturer
-I Observation of production processes
-J Troubleshooting and fault rectification
-K Cleaning, maintenance
-```
-```
-Instructed personnel of the operator
-```
-```
-L Maintenance Trained and instructed specialised personnel of the operator or service
-technicians of the manufacturer
-M Decommissioning Trained and instructed specialised personnel of the operator
-```
-
@@ -6,31 +6,32 @@ This guide will help you set up a NixOS system with QiTech Control and manage up

 ## Initial Setup

-### 1. Add Home Manager Channel
+### 1. Install Git

 ```bash
-sudo nix-channel --add https://github.com/nix-community/home-manager/archive/master.tar.gz home-manager
-sudo nix-channel --update
+nixos-env -i git
 ```

-### 2. Configure System Files
-
-Create the three main configuration files:
-
- `flake.nix` - Defines inputs, overlays, and system configuration
- `configuration.nix` - Main NixOS system configuration
- `home.nix` - Home Manager configuration for the qitech user
-
-### 3. Build and Apply Configuration
+### 2. Clone the Control Repo

 ```bash
-# Build and switch to the new configuration
-sudo nixos-rebuild switch --flake .#nixos
+git clone https://github.com/qitechgmbh/control
+cd control
 ```

+### 3. Run Install Script
+
+```bash
+# run as admin either with sudo or as root!
+sudo ./nixos-install.sh
+```
+
+After the Installation script is finished the Computer should have rebooted and automatically started the control software.
+
 ### 4. Manual configuration

-Disable any power management features or display sleep settings in the GNOME settings. Check that the on-screen keyboard is enabled under accessibility settings.
+Disable any power management features or display sleep settings in the GNOME settings.
+Check that the on-screen keyboard is enabled under accessibility settings.

 ## System Configuration Overview

@@ -0,0 +1,40 @@
+# Ethercat Tab shows no Ethercat Terminals!
+
+When the Ethercat page does not show any terminals, this can be due to multiple reasons
+
+## 1: Incorrect Connection of EK1100
+
+Check that the computers ethernet cable is properly connected to the EK1100 IN port
+
+Check the cabling if more than one EK1100 is used.
+When you have multiple EK the connection should be like this:
+
+Master (Your pc) -> Ethernet cable -> IN EK1100 (A)
+
+OUT EK1100 (A) -> Ethernet cable -> IN EK1100 (B)
+
+If you connected any part of this incorrectly the ethercat software will try to communicate but will fail, because the protocol works only if all devices are connect in series.
+
+## 2: Defective EtherCAT Terminal
+
+If a Terminal is somehow defective it can disrupt the communication flow expected by EtherCAT thus causing no devices to show up, as ethercat requires all terminals to work properly.
+
+To identify the defective terminal start unplugging terminals starting from the End terminal. Working your way backwards. Every time you unplug a terminal restart the backend process.
+
+You know that you have removed the defective terminal when the ethercat tab shows devices after your restart.
+
+Replace that terminal with an appropriate one and repeat this if the error persists.
+
+## 3: Corrupt Firmware on EtherCAT Terminal
+
+Another reason, that an Ethercat Terminal doesnt work properly, is that the firmware is corrupt. This could happen due to overvoltage,undervoltage or shorts, in some cases this is recoverable by reflashing the firmware.
+
+Our repository contains dumps for all of the EtherCAT Terminals, that we have used. To upload the firmware you can follow this guide: https://infosys.beckhoff.com/english.php?content=../content/1033/ethercatsystem/402909835.html&id=
+
+To follow this guide, you need to have TwinCat installed and a License.
+
+# Motor does not start!
+
+If the Motor does not start after trying to talk to the inverter, the most common reason is that the inverter's serial connection settings (baudrate,encoding ...) are incorrect.
+
+The correct settings can be found in mitsubishi_inverter.md under `All Settings needed for the Inverter Communication/Operation with Extruder`
@@ -3,6 +3,6 @@
  "trailingComma": "all",
  "tabWidth": 2,
  "semi": true,
-  "endOfLine": "auto",
+  "endOfLine": "lf",
  "plugins": ["prettier-plugin-tailwindcss"]
 }
@@ -11,6 +11,7 @@
    "make": "electron-forge make",
    "publish": "electron-forge publish",
    "lint": "eslint .",
+    "lint:write": "eslint . --fix",
    "format": "prettier --check .",
    "format:write": "prettier --write .",
    "test": "vitest run",
@@ -23,14 +24,14 @@
  "devDependencies": {
    "@electron-forge/cli": "^7.6.1",
    "@electron-forge/maker-deb": "^7.8.0",
-    "@electron-forge/maker-rpm": "^7.6.1",
+    "@electron-forge/maker-rpm": "^7.8.3",
    "@electron-forge/maker-squirrel": "^7.6.1",
    "@electron-forge/maker-zip": "^7.6.1",
    "@electron-forge/plugin-auto-unpack-natives": "^7.6.1",
    "@electron-forge/plugin-fuses": "^7.8.0",
    "@electron-forge/plugin-vite": "^7.6.1",
    "@electron-forge/shared-types": "^7.4.0",
-    "@electron/fuses": "^1.8.0",
+    "@electron/fuses": "^2.0.0",
    "@eslint/compat": "^1.2.6",
    "@eslint/js": "^9.18.0",
    "@playwright/test": "^1.50.1",
@@ -40,46 +41,47 @@
    "@testing-library/user-event": "^14.6.1",
    "@types/electron-squirrel-startup": "^1.0.2",
    "@types/eslint-config-prettier": "^6.11.3",
-    "@types/node": "^22.13.4",
-    "@types/react": "^19.0.10",
+    "@types/node": "^24.2.1",
+    "@types/react": "^19.1.16",
    "@types/react-dom": "^19.0.4",
-    "electron": "36.4.0",
+    "@types/react-virtualized": "^9.22.2",
+    "electron": "^37.3.1",
    "electron-playwright-helpers": "^1.7.1",
    "eslint": "^9.20.1",
    "eslint-config-prettier": "^10.1.2",
-    "eslint-plugin-prettier": "^5.2.3",
+    "eslint-plugin-prettier": "^5.5.4",
    "eslint-plugin-react": "^7.37.4",
    "eslint-plugin-react-compiler": "^19.0.0-beta-714736e-20250131",
    "globals": "^16.2.0",
    "jsdom": "^26.0.0",
    "postcss": "^8.5.2",
-    "prettier": "^3.5.1",
-    "prettier-plugin-tailwindcss": "^0.6.11",
+    "prettier": "^3.6.2",
+    "prettier-plugin-tailwindcss": "^0.6.14",
    "tailwindcss": "^4.1.4",
    "ts-node": "^10.9.2",
    "typescript": "^5.7.3",
    "typescript-eslint": "^8.24.1",
-    "vite": "^6.2.6",
+    "vite": "^6.3.6",
    "vitest": "^3.0.6"
  },
  "dependencies": {
    "@hookform/resolvers": "^4.1.2",
    "@icons-pack/react-simple-icons": "^11.2.0",
    "@jub3i/tree-kill": "^0.0.15",
-    "@radix-ui/react-collapsible": "^1.1.8",
+    "@radix-ui/react-collapsible": "^1.1.12",
    "@radix-ui/react-dialog": "^1.1.6",
    "@radix-ui/react-dropdown-menu": "^2.1.15",
    "@radix-ui/react-label": "^2.1.2",
-    "@radix-ui/react-navigation-menu": "^1.2.5",
+    "@radix-ui/react-navigation-menu": "^1.2.14",
    "@radix-ui/react-popover": "^1.1.7",
-    "@radix-ui/react-select": "^2.1.6",
+    "@radix-ui/react-select": "^2.2.6",
    "@radix-ui/react-separator": "^1.1.3",
    "@radix-ui/react-slider": "^1.2.3",
    "@radix-ui/react-slot": "^1.1.2",
    "@radix-ui/react-toggle": "^1.1.1",
    "@radix-ui/react-toggle-group": "^1.1.2",
-    "@tanstack/react-query": "^5.66.7",
-    "@tanstack/react-router": "^1.105.0",
+    "@tanstack/react-query": "^5.84.2",
+    "@tanstack/react-router": "^1.130.17",
    "@tanstack/react-table": "^8.21.2",
    "@tanstack/router-devtools": "^1.105.0",
    "@tanstack/zod-adapter": "^1.116.0",
@@ -98,6 +100,8 @@
    "react-hook-form": "^7.57.0",
    "react-i18next": "^15.4.1",
    "react-markdown": "^10.1.0",
+    "react-virtualized": "^9.22.6",
+    "rehype-raw": "^7.0.0",
    "remark-gfm": "^4.0.1",
    "socket.io-client": "^4.8.1",
    "socket.io-msgpack-parser": "^3.0.2",
@@ -108,6 +112,6 @@
    "xlsx": "^0.18.5",
    "zod": "^3.24.2",
    "zod-validation-error": "^3.4.0",
-    "zustand": "^5.0.3"
+    "zustand": "^5.0.8"
  }
 }